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Stable inversion for flexible multibody systems using the ANCF
Citation Link: https://doi.org/10.15480/882.3895
Publikationstyp
Conference Paper
Date Issued
2021-01-25
Sprache
English
Author(s)
Institut
TORE-DOI
Volume
20
Issue
1
Article Number
202000145
Citation
Proceedings in applied mathematics and mechanics 20 (1): 202000145 (2021)
Contribution to Conference
Publisher DOI
Publisher
Wiley-VCH
Peer Reviewed
true
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.
DDC Class
510: Mathematik
Publication version
acceptedVersion
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