Applications of holonomic and non-holonomic constraints in modern technological innovations: systematic review

Melinda Maharani, Selvia Mariska Syahputri, Eka Sutinah, Hamdi Akhsan, Ismet Ismet

Abstract

Kendala holonomik dan nonholonomik merupakan aspek penting mekanika geometri yang banyak diaplikasikan dalam teknologi modern seperti navigasi, robotika, dan kendaraan otonom. Penelitian ini bertujuan untuk menjawab dua pertanyaan utama: (1) Bagaimana kendala holonomik dan nonholonomik didistribusikan dalam bidang teknologi modern? dan (2) Bagaimana kendala ini berkontribusi pada efisiensi dan kinerja sistem? Metode yang digunakan adalah Tinjauan Literatur Sistematis (SLR) yang mengikuti pedoman PRISMA 2020. Literatur dikumpulkan menggunakan perangkat lunak Publish or Perish dari basis data Scopus, ScienceDirect, dan Google Scholar, dengan kata kunci tertentu. Dari 165 artikel yang awalnya ditemukan, 32 artikel dipilih untuk analisis akhir setelah penyaringan, penghapusan duplikat, dan evaluasi kualitas dan pengindeksan. Hasil analisis menunjukkan penerapan kendala nonholonomik yang dominan dalam sistem dinamis seperti robot penggerak diferensial dan kendaraan otonom karena kemampuannya untuk meningkatkan fleksibilitas dan kemampuan beradaptasi. Sebaliknya, kendala holonomik lebih umum digunakan dalam sistem presisi tinggi seperti robot omnidirectional. Implikasi dari penelitian ini menekankan pentingnya memilih jenis kendala yang tepat untuk mengoptimalkan kinerja teknologi berbasis mekanika geometri.

Keywords

holonomic constraints, non-holonomic constraints, robotics, autonomous vehicles, navigation

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References

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DOI: https://doi.org/10.20961/jphystheor-appl.v9i1.102155

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