10.5.2 Nonholonomic ConstraintsThe nonholonomic system solving functions. This builds the PathSystem object. The second argument of the Orthogonal1 constraint is interpreted as a vector, in global coordinates, that is constrained to be orthogonal to the Vector on the caster.
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The InitialCondition option is used to give the caster a nonzero initial angle. Otherwise, it is simply pushed along in front of the pivot indefinitely, instead of swinging around behind the pivot as expected.
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Here is a plot of the caster angle as a function of time. Note that T is equal to the X coordinate of the caster.
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Here is a graphic of the caster at five positions between T = 1 and T = 10.
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