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Numerical methods for the inverse dynamics simulation of underactuated mechanical systems

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...

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Gespeichert in:
Bibliographische Detailangaben
1. Verfasser: Yang, Yinping (auth)
Format: Elektronisch Buchkapitel
Sprache:Englisch
Veröffentlicht: KIT Scientific Publishing 2017
Schriftenreihe:Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
Schlagworte:
Technology: general issues
index reduction
servo constraints
differential-algebraic equations
Inverse Dynamik
unteraktuierte Systeme
differential-algebraische GleichungenInverse dynamics
Servobindungen
Indexreduktion
underactuated mechanical systems
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Beschreibung
Zusammenfassung: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 tracking control problems of underacutated systems, which are also called underactuated servo constraint problems.
Beschreibung:1 electronic resource (XVII, 224 p. p.)
ISBN:KSP/1000065049
9783731506263
Zugangseinschränkungen:Open Access

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