Question

Differentiate between holonomic and non holonomic constrain and example?

Answer 1

Answer:

Holonomic system are systems for which all constraints are integrable into positional constraints. Nonholonomic systems are systems which have constraints that are nonintegrable into positional constraints.

Answer 2

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It is right explanation.

For a nonholonomic system, you can at best determine a differential relationship between state and inputs. You cannot determine a closed-form geometric relationship. This means that the history of states is needed in order to determine the current state. Vehicles are a good example because you can intuitively see that turning the right wheel 100 rotations and turning the left wheel 100 rotations does not provide enough information to describe the change in position. If the wheels are turned synchronously, the vehicle will follow a straight line. If they are coordinated in another sequence, the robot will turn, and follow some other path. This is nonholonomic: knowing the total change in state variables is insufficient to describe the motion, because you cannot write a geometric relationship between input and output. It is differential at best.

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