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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Bibliografiske detaljer

Hovedforfatter:	Yang, Yinping
Format:	Online
Sprog:	engelsk
Udgivet:	KIT Scientific Publishing 2021
Fag:	T1-995 index reduction servo constraints differential-algebraic equations Inverse Dynamik unteraktuierte Systeme differential-algebraische GleichungenInverse dynamics Servobindungen Indexreduktion underactuated mechanical systems thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues
Online adgang:	35233
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