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Numerical methods for the inverse dynamics simulation of underactuated mechanical systems
Yinping Yang
2017
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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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Keywords
- Differential-algebraic equations
- differential-algebraische GleichungenInverse dynamics
- index reduction
- Indexreduktion
- Inverse Dynamik
- servo constraints
- Servobindungen
- underactuated mechanical systems
- unteraktuierte Systeme
Links
DOI: 10.5445/KSP/1000065049Editions