Modern Robotics, All Videos - Modern Robotics, Chapter 8.7: Constrained Dynamics

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See http://modernrobotics.org for information on the book, free software, and other materials. This video describes the dynamics of robots when they are subject to constraints, such as loop-closure constraints or nonholonomic constraints. Lagrange multipliers, modeling forces against constraints, are introduced, as well as projection methods that eliminate explicit calculation of the Lagrange multipliers. This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos. Playlist for Chapter 8: https://www.youtube.com/playlist?list=PLggLP4f-rq00TQamz2pXjzPWpuxhVN_Vy Playlist for all book videos: https://www.youtube.com/playlist?list=PLggLP4f-rq02vX0OQQ5vrCxbJrzamYDfx YouTube channel with all playlists: https://www.youtube.com/user/kevinl2145 Wiki for the book, including software and other supplements: http://modernrobotics.org Modern Robotics is now a series of online courses on Coursera! https://www.coursera.org/specializations/modernrobotics