Talk:Holonomic

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	Holonomic is within the scope of WikiProject Robotics, an attempt to standardise coverage of Robotics. If you would like to participate, you can edit the article attached to this notice, or visit the project page, where you can join the project or contribute to the discussion.
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I'm not sure, but is it correct to define a holonomic coord system as a holonomic section of the (second) jet bundle? Details would be nice.linas 02:56, 24 Jan 2005 (UTC)

All differentiable coordinate systems (without critical points) are holonomic. Hence the identification of coordinate basis with holonomic basis, by the Frobenius theorem. So I deleted the references to spherical and cylindrical coordinates as being non-holonomic because they were misleading. Consider looking into holonomic and nonholonomic pseudocoordinates.

Furthermore, it's quite difficult to define the adjective holonomic in general to everyone's satisfaction. So this should probably be a disambiguation page anyway. Jholland 05:07, 12 May 2005 (UTC)

[edit] Robotics

The section on robotics is incoherent. Holonomy and nonholonomy are used in robotics in the same way as in mechanics: a constraint is holonomic if it can be expressed as a function of joint/pose positions. It's nonholonomic if it involves velocities, and cannot be integrated into a constraint on positions alone. A robot is called nonholonomic if it has nonholonomic constraints.

I recommend removing the section on robotics, since it is an application of the concepts from mechanics

(see, e.g., the comprehensive reference book "Nonholonomic Mechanics and Control" by Anthony Bloch.)

Overmycketsjal (talk) 05:47, 17 January 2008 (UTC)