Numerical methods for the inverse dynamics simulation of underactuated mechanical systems

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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Superior document:Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
:
Yang, Yinping
Year of Publication:2017
Language:English
Series:Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
Physical Description:1 electronic resource (XVII, 224 p. p.)
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collection bib_alma
record_format marc
spelling Yang, Yinping auth
Numerical methods for the inverse dynamics simulation of underactuated mechanical systems
KIT Scientific Publishing 2017
1 electronic resource (XVII, 224 p. p.)
text txt rdacontent
computer c rdamedia
online resource cr rdacarrier
Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
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.
English
index reduction
servo constraints
differential-algebraic equations
Inverse Dynamik
unteraktuierte Systeme
differential-algebraische GleichungenInverse dynamics
Servobindungen
Indexreduktion
underactuated mechanical systems
3-7315-0626-2
language English
format eBook
author Yang, Yinping
spellingShingle Yang, Yinping
Numerical methods for the inverse dynamics simulation of underactuated mechanical systems
Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
author_facet Yang, Yinping
author_variant y y yy
author_sort Yang, Yinping
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_auth Numerical methods for the inverse dynamics simulation of underactuated mechanical systems
title_new Numerical methods for the inverse dynamics simulation of underactuated mechanical systems
title_sort numerical methods for the inverse dynamics simulation of underactuated mechanical systems
series Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
series2 Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
publisher KIT Scientific Publishing
publishDate 2017
physical 1 electronic resource (XVII, 224 p. p.)
isbn 3-7315-0626-2
illustrated Not Illustrated
work_keys_str_mv AT yangyinping numericalmethodsfortheinversedynamicssimulationofunderactuatedmechanicalsystems
status_str n
ids_txt_mv (CKB)4920000000100872
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hierarchy_parent_title Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
is_hierarchy_title Numerical methods for the inverse dynamics simulation of underactuated mechanical systems
container_title Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie
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