Design of Feed-Forward Control for Underactuated Multibody Systems with Kinematic Redundancy

DOI10.1007/978-1-4020-9438-5_27MaRDI QIDQ3565568zbMATH OpenOpenAlexFDO

Authors Robert Seifried, Peter Eberhard

Publication date 4 June 2010

Published in Motion and Vibration Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-1-4020-9438-5_27

zbMATH Keywords

feed-forward controlinverse model of the multibody systemnonlinear input-output normal-formunderactuated multibody systems

Mathematics Subject Classification ID

Control problems involving ordinary differential equations (34H05) Control of mechanical systems (70Q05) General systems (93A10) Canonical structure (93B10) Control/observation systems governed by ordinary differential equations (93C15)

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Cited in

(8)

• A geometric optimization method for the trajectory planning of flexible manipulators
• Combined open-loop and funnel control for underactuated multibody systems
• Feedforward dynamics for the control of articulated multi-limb robots
• Optimization-based design of minimum phase underactuated multibody systems
• Inverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach
• Stable model inversion for underactuated multibody systems
• Two approaches for feedforward control and optimal design of underactuated multibody systems
• Analysis of open-loop control design and parallel computation for underactuated manipulators

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