FIGURE 5: KINEMATIC CONSTRAINT DIAGRAM information, the position constraint can be expressed as 4agt;* = ry + Sy-P^O (40) where Pj is the global vector of the attachment point in vehicle system, and s(j is the vector from the origin of the body j reference frame to joint attachment point. ... equation is alt;b\ Y, + t (alt;b\ Bk )qk = P, -^ Yj - Ap (*Ap Bk )qk a#39; k=2 a#39; a#39; *=2 a#39; The perpendicularity constraint acceleration equations are (46) Lagt; ... TAp , as a function of engine speed and fuel consumption.
|Title||:||Advanced Automotive Technologies, 1995|
|Author||:||Huei Peng, Jeffrey S. Freeman|