Stable inversion for flexible multibody systems using the ANCF

Please use this identifier to cite or link to this item: https://doi.org/10.15480/882.3895

Publisher DOI:	10.1002/pamm.202000145
Title:	Stable inversion for flexible multibody systems using the ANCF
Language:	English
Authors:	Drücker, Svenja Seifried, Robert
Issue Date:	25-Jan-2021
Publisher:	Wiley-VCH
Source:	Proceedings in applied mathematics and mechanics 20 (1): 202000145 (2021)
Abstract (english):	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.
Conference:	91st Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2021)
URI:	http://hdl.handle.net/11420/10920
DOI:	10.15480/882.3895
ISSN:	1617-7061
Journal:	Proceedings in applied mathematics and mechanics
Institute:	Mechanik und Meerestechnik M-13
Document Type:	Chapter/Article (Proceedings)
Project:	Projekt DEAL
Peer Reviewed:	Yes
License:	CC BY-NC-ND 4.0 (Attribution-NonCommercial-NoDerivatives)
Appears in Collections:	Publications with fulltext