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Numerical methods for the inverse dynamics simulation of underactuated mechanical systems

By: Material type: ArticleArticleLanguage: English Publication details: KIT Scientific Publishing 2017Description: 1 electronic resource (XVII, 224 p. p.)ISBN:
  • KSP/1000065049
  • 9783731506263
Subject(s): Online resources: 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.
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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.

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