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On the Solution of Inverse Dynamics and Trajectory Optimization Problems for Multibody Systems

โœ Scribed by Carlo L. Bottasso; Alessandro Croce; Luca Ghezzi; Paolo Faure


Book ID
111601234
Publisher
Springer
Year
2004
Tongue
English
Weight
488 KB
Volume
11
Category
Article
ISSN
1384-5640

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A non-recursive Lagrangian solution of t
โœ Ragnar Ledesma; Eduardo Bayo ๐Ÿ“‚ Article ๐Ÿ“… 1993 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 942 KB

A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive