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: | ![]() |
Appears in Collections: | Publications with fulltext |
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pamm.202000145.pdf | Verlagsversion | 186,55 kB | Adobe PDF | View/Open![]() |
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