Inverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach

DOI10.1007/s11044-013-9361-zzbMath1274.93100OpenAlexW2017210692MaRDI QIDQ375160

Robert Seifried, Guaraci jun. Bastos, Olivier Brüls

Publication date: 28 October 2013

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://orbi.uliege.be/handle/2268/148057

zbMATH Keywords

optimal controlmultibody systemstrajectory trackingunderactuated systemsdirect transcriptioninverse dynamics

Mathematics Subject Classification ID

Feedback control (93B52) Control of mechanical systems (70Q05) Dynamics of multibody systems (70E55)

Related Items (10)

Application of stable inversion to flexible manipulators modeled by the absolute nodal coordinate formulation ⋮ Trajectory-tracking control from a multibody system dynamics perspective ⋮ Input optimization for flexible multibody systems using the adjoint variable method and the flexible natural coordinates formulation ⋮ DAE Aspects in Vehicle Dynamics and Mobile Robotics ⋮ Open-Loop Control of Underactuated Mechanical Systems Using Servo-Constraints: Analysis and Some Examples ⋮ A stable reentry trajectory for flexible manipulators ⋮ Inverse dynamics of underactuated planar manipulators without inertial coupling singularities ⋮ A geometric optimization method for the trajectory planning of flexible manipulators ⋮ System-based approaches for structural optimization of flexible mechanisms ⋮ Analysis of open-loop control design and parallel computation for underactuated manipulators

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