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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| Format: | Electronic Book Chapter |
| Language: | English |
| Published: |
KIT Scientific Publishing
2017
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| Series: | Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
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| Subjects: | |
| Online Access: | DOAB: download the publication DOAB: description of the publication |
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| 020 | |a KSP/1000065049 | ||
| 020 | |a 9783731506263 | ||
| 040 | |a oapen |c oapen | ||
| 024 | 7 | |a 10.5445/KSP/1000065049 |c doi | |
| 041 | 0 | |a eng | |
| 042 | |a dc | ||
| 072 | 7 | |a TB |2 bicssc | |
| 100 | 1 | |a Yang, Yinping |4 auth | |
| 245 | 1 | 0 | |a Numerical methods for the inverse dynamics simulation of underactuated mechanical systems |
| 260 | |b KIT Scientific Publishing |c 2017 | ||
| 300 | |a 1 electronic resource (XVII, 224 p. p.) | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a computer |b c |2 rdamedia | ||
| 338 | |a online resource |b cr |2 rdacarrier | ||
| 490 | 1 | |a Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie | |
| 506 | 0 | |a Open Access |2 star |f Unrestricted online access | |
| 520 | |a 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. | ||
| 540 | |a Creative Commons |f https://creativecommons.org/licenses/by-sa/4.0/ |2 cc |4 https://creativecommons.org/licenses/by-sa/4.0/ | ||
| 546 | |a English | ||
| 650 | 7 | |a Technology: general issues |2 bicssc | |
| 653 | |a index reduction | ||
| 653 | |a servo constraints | ||
| 653 | |a differential-algebraic equations | ||
| 653 | |a Inverse Dynamik | ||
| 653 | |a unteraktuierte Systeme | ||
| 653 | |a differential-algebraische GleichungenInverse dynamics | ||
| 653 | |a Servobindungen | ||
| 653 | |a Indexreduktion | ||
| 653 | |a underactuated mechanical systems | ||
| 856 | 4 | 0 | |a www.oapen.org |u https://www.ksp.kit.edu/9783731506263 |7 0 |z DOAB: download the publication |
| 856 | 4 | 0 | |a www.oapen.org |u https://directory.doabooks.org/handle/20.500.12854/54918 |7 0 |z DOAB: description of the publication |