Drücker, SvenjaSvenjaDrückerSeifried, RobertRobertSeifried2021-11-122021-11-122021-01-25Proceedings in applied mathematics and mechanics 20 (1): 202000145 (2021)http://hdl.handle.net/11420/10920Flexible 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.en1617-706120211Wiley-VCHhttps://creativecommons.org/licenses/by-nc-nd/4.0/MathematikConference Paper10.15480/882.389510.1002/pamm.20200014510.15480/882.3895Other