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: | Online |
| Language: | English |
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KIT Scientific Publishing
2021
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| Online Access: | 35233 |
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| _version_ | 1869519570410143744 |
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| author | Yang, Yinping |
| author_browse | Yang, Yinping |
| author_facet | Yang, Yinping |
| author_sort | Yang, Yinping |
| collection | Directory of Open Access Books |
| description | 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. |
| format | Online |
| id | doab-20.500.12854ir-54918 |
| institution | Directory of Open Access Books |
| language | eng |
| publishDate | 2021 |
| publishDateRange | 2021 |
| publishDateSort | 2021 |
| publisher | KIT Scientific Publishing |
| publisherStr | KIT Scientific Publishing |
| record_format | ojs |
| spelling | doab-20.500.12854ir-549182024-04-09T23:16:36Z Numerical methods for the inverse dynamics simulation of underactuated mechanical systems Yang, Yinping 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 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. 2021-02-11T21:19:58Z 2021-02-11T21:19:58Z 2019-07-30 20:02:00 2017 book 35233 23634936 9783731506263 https://directory.doabooks.org/handle/20.500.12854/54918 eng Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie image/jpeg Attribution-ShareAlike 4.0 International https://www.ksp.kit.edu/9783731506263 KIT Scientific Publishing 10.5445/KSP/1000065049 10.5445/KSP/1000065049 68fffc18-8f7b-44fa-ac7e-0b7d7d979bd2 9783731506263 XVII, 224 p. open access |
| spellingShingle | 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 Yang, Yinping Numerical methods for the inverse dynamics simulation of underactuated mechanical systems |
| title | Numerical methods for the inverse dynamics simulation of underactuated mechanical systems |
| title_full | Numerical methods for the inverse dynamics simulation of underactuated mechanical systems |
| title_fullStr | Numerical methods for the inverse dynamics simulation of underactuated mechanical systems |
| title_full_unstemmed | Numerical methods for the inverse dynamics simulation of underactuated mechanical systems |
| title_short | Numerical methods for the inverse dynamics simulation of underactuated mechanical systems |
| title_sort | numerical methods for the inverse dynamics simulation of underactuated mechanical systems |
| topic | 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 |
| topic_facet | 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 |
| url | 35233 |
| work_keys_str_mv | AT yangyinping numericalmethodsfortheinversedynamicssimulationofunderactuatedmechanicalsystems |