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Inverse dynamics of underactuated multibody systems
Author(s) -
Quasem Mahmud,
Uhlar Stefan,
Betsch Peter
Publication year - 2009
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200910034
Subject(s) - holonomic constraints , underactuation , generalized coordinates , multibody system , holonomic , projection (relational algebra) , equations of motion , control theory (sociology) , degrees of freedom (physics and chemistry) , differential algebraic equation , mathematics , computer science , differential equation , ordinary differential equation , classical mechanics , mathematical analysis , physics , control (management) , algorithm , artificial intelligence , quantum mechanics
The present work deals with controlled mechanical systems subject to holonomic constraints. In particular, we focus on underactuated systems, defined as systems in which the number of degrees of freedom exceeds the number of inputs. The governing equations of motion can be written in the form of differential‐algebraic equations (DAEs) with a mixed set of holonomic and control constraints. The rotationless formulation of multibody dynamics will be considered [1]. To this end, we apply a specific projection method to the DAEs in terms of redundant coordinates. A similar projection approach has been previously developed in the framework of generalized coordinates by Blajer & Kołodziejczyk [2]. (© 2009 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)