Numerical methods for the inverse dynamics simulation of underactuated mechanical systems
Yang, Yinping
Numerical methods for the inverse dynamics simulation of underactuated mechanical systems - KIT Scientific Publishing 2017 - 1 electronic resource (XVII, 224 p. p.)
Open Access
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.
Creative Commons
English
KSP/1000065049 9783731506263
10.5445/KSP/1000065049 doi
index reduction servo constraints differential-algebraic equations Inverse Dynamik unteraktuierte Systeme differential-algebraische GleichungenInverse dynamics Servobindungen Indexreduktion underactuated mechanical systems
Numerical methods for the inverse dynamics simulation of underactuated mechanical systems - KIT Scientific Publishing 2017 - 1 electronic resource (XVII, 224 p. p.)
Open Access
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.
Creative Commons
English
KSP/1000065049 9783731506263
10.5445/KSP/1000065049 doi
index reduction servo constraints differential-algebraic equations Inverse Dynamik unteraktuierte Systeme differential-algebraische GleichungenInverse dynamics Servobindungen Indexreduktion underactuated mechanical systems