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Yinping Yang

Numerical methods for the inverse dynamics simulation of underactuated mechanical systems

(Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie ; 5)

AutorYang, Yinping

VerlagKIT Scientific Publishing, Karlsruhe

ISBN9783731506263

UmfangXVII, 224 S.

Veröffentlicht
am:
02.05.2017

Erscheinungs-
jahr
2017

VerfügbarkeitAktiv

Downloads:

Für Zitate bitte die folgende URL verwenden:
http://dx.doi.org/10.5445/KSP/1000065049

Abstract

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.