Numerical methods for the inverse dynamics simulation of underactuated mechanical systems

Numerical methods for the inverse dynamics simulation of underactuated mechanical systems
Author :
Publisher : KIT Scientific Publishing
Total Pages : 256
Release :
ISBN-10 : 9783731506263
ISBN-13 : 3731506262
Rating : 4/5 (63 Downloads)

Book Synopsis Numerical methods for the inverse dynamics simulation of underactuated mechanical systems by : Yang, Yinping

Download or read book Numerical methods for the inverse dynamics simulation of underactuated mechanical systems written by Yang, Yinping and published by KIT Scientific Publishing. This book was released on 2017-05-02 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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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