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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) 
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) CC BY-NC-ND 4.0 (Attribution-NonCommercial-NoDerivatives)
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