A wheel moving in free space has the six degrees of freedom of a rigid body. If we constrain it to be upright on a plane and to roll without slipping, how many holonomic and nonholonomic constraints is the wheel subject to?
This is a question from NWUs's course on Foundations of Robot Motion,
According to my understanding, the wheel has 2 non-holonomic constraints:
- wheel is rolling and not slipping and
- the wheel cannot slide along its axis of rotation.
but I don't understand how many holonomic constraints it would have.
Isn't, the wheel not able to slide along its axis of rotation also a holonomic constraint?
I hope someone can help me with the number of holonomic constraints on the wheel.