Numerical methods for the inverse dynamics simulation of underactuated mechanical systems

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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Bibliographic Details
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
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Summary: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.
Physical Description:1 electronic resource (XVII, 224 p. p.)
ISBN:KSP/1000065049
9783731506263
Access:Open Access

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