Stable Inversion for Flexible Multibody Systems Using the ANCF

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 mod...

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Bibliographic Details
Published in:Proceedings in applied mathematics and mechanics 2021-01, Vol.20 (1), p.n/a
Main Authors: Drücker, Svenja, Seifried, Robert
Format: Article
Language:English
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Summary: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.
ISSN:1617-7061
1617-7061
DOI:10.1002/pamm.202000145