Numerical methods for the inverse dynamics simulation of underactuated mechanical systems

• मुख्य लेखक: Yang, Yinping (auth)
• स्वरूप: इलेक्ट्रोनिक पुस्तक अध्याय
• भाषा: अंग्रेज़ी
• प्रकाशित: KIT Scientific Publishing 2017
• श्रृंखला: Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
• विषय: Technology: general issues; index reduction; servo constraints; differential-algebraic equations; Inverse Dynamik; unteraktuierte Systeme; differential-algebraische GleichungenInverse dynamics; Servobindungen; Indexreduktion; underactuated mechanical systems
• ऑनलाइन पहुंच: 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...