The implicit inversion method for calculating the forward dynamics input Jacobian

DOI10.1007/S11044-024-10010-8MaRDI QIDQ6934684zbMATH OpenFDO

Authors Gabriel Krög, Hubert Gattringer, Andreas Müller

Publication date 3 September 2025

Published in Multibody System Dynamics (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1007/S11044-024-10010-8

zbMATH Keywords

extended unit force methodinertia-weighted input matrixoptimal controlrecursive dynamics algorithmunconstrained optimization problem

Mathematics Subject Classification ID

Experimental work for problems pertaining to mechanics of particles and systems (70-05) Dynamics of multibody systems (70E55) Control of mechanical systems (70Q05)

Cites work

• Adaptive backstepping trajectory tracking control of robot manipulator
• Elastic multibody dynamics. A direct Ritz approach
• scientific article; zbMATH DE number 420879 (Why is no real title available?)
• scientific article; zbMATH DE number 4114128 (Why is no real title available?)
• Recursive methods in control of flexible joint manipulators
• Robot Dynamics Algorithms
• Springer handbook of robotics. With DVD

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