000015384 001__ 15384
000015384 005__ 20161115100220.0
000015384 04107 $$aeng
000015384 046__ $$k2016-08-21
000015384 100__ $$aSeifried, Robert
000015384 24500 $$aA Servo-constraint Framework for Control of Various Types of Underactuated Multibody Systems

000015384 24630 $$n24.$$p24th International Congress of Theoretical and Applied Mechanics - Book of Papers
000015384 260__ $$bInternational Union of Theoretical and Applied Mechanics, 2016
000015384 506__ $$arestricted
000015384 520__ $$2eng$$aThe control of underactuated multibody systems is often a challenging task since less control inputs than degrees of freedom are available. A systematic approach for feedforward control design of underactuated multibody systems is the use of servo-constraints for model inversion. For various systems the dynamics of the obtained inverse model can be very different. Therefore different numerical solution approaches are required. The obtained feedforward control can then be combined with feedback control. The presented framework is verified experimentally using two underactuated multibody systems with very different structural properties, namely an overhead crane and a flexible parallel manipulator. Questions concerning practical implementation and real-time capability are addressed.

000015384 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000015384 653__ $$a

000015384 7112_ $$a24th International Congress of Theoretical and Applied Mechanics$$cMontreal (CA)$$d2016-08-21 / 2016-08-26$$gICTAM2016
000015384 720__ $$aSeifried, Robert
000015384 8560_ $$ffischerc@itam.cas.cz
000015384 8564_ $$s63479$$uhttps://invenio.itam.cas.cz/record/15384/files/TS.SM11-3.01.pdf$$yOriginal version of the author's contribution as presented on CD,  page 2579, code TS.SM11-3.01
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000015384 962__ $$r13812
000015384 980__ $$aPAPER