Inverse dynamics of servo-constraints based on the generalized inverse (Q2499435)
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| Language | Label | Description | Also known as |
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| English | Inverse dynamics of servo-constraints based on the generalized inverse |
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Inverse dynamics of servo-constraints based on the generalized inverse (English)
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14 August 2006
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The servo-constraint is an active constraint different from passive constraint in classic mechanics. In this paper the acceleration form of constraint equations is employed to solve the inverse dynamics and realize the servo-constraint. For a redundant system the necessary control forces can be chosen to satisfy certain requirements or to optimize certain criteria. The nonholonomic form derived by the authors is used to determine the accelerations of the system and the forces generated by redundant manipulators. Two inverse problems on double pendulum and spacecraft stabilization are calculated as examples.
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control forces
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double pendulum
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spacecraft stabilization
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