What is "holonomic"

a. (context mathematics English) Exhibiting holonomy

Holonomic (introduced by Heinrich Hertz in 1894 from the Greek ὅλος meaning whole, entire and νόμ-ος meaning law) may refer to:

A robot is holonomic if all the constraints that it is subjected to are integrable into positional constraints of the form

f(q, q, ..., q; t) = 0

The variables q are the system coordinates. When a system contains constraints that cannot be written in this form, it is to be nonholonomic.