Numerical methods for the inverse dynamics simulation of underactuated mechanical systems

• Main Author: Yang, Yinping (auth)
• Format: Electronic Book Chapter
• Language: English
• Published: KIT Scientific Publishing 2017
• Series: Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
• Subjects: Technology: general issues; index reduction; servo constraints; differential-algebraic equations; Inverse Dynamik; unteraktuierte Systeme; differential-algebraische GleichungenInverse dynamics; Servobindungen; Indexreduktion; underactuated mechanical systems
• Online Access: DOAB: download the publication; DOAB: description of the publication

The present work deals with the inverse dynamics simulation of underactuated multibody systems. In particular, the study focuses on solving trajectory tracking control problems of differentially flat underactuated systems. The use of servo constraints provides an approach to formulate trajectory tra...