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Stable Inversion for Flexible Multibody Systems Using the ANCF
Author(s) -
Drücker Svenja,
Seifried Robert
Publication year - 2021
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.202000145
Subject(s) - inversion (geology) , multibody system , control theory (sociology) , computer science , inverse , underactuation , robot , control engineering , mathematics , engineering , artificial intelligence , physics , classical mechanics , geometry , geology , paleontology , control (management) , structural basin
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.