Stable inversion for flexible multibody systems using the ANCF
Proceedings in applied mathematics and mechanics 20 (1): 202000145 (2021)
Contribution to Conference
Flexible robots are often non-minimum phase systems. Thus, their inverse model must be computed by stable inversion. Here, a simplification to the stable inversion process is proposed, which enables its application to complex underactuated multibody systems. As an example, a flexible manipulator modeled by the absolute nodal coordinate formulation is considered.