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Inverse Dynamics of Flexible Manipulators - A DAE Approach
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Royal Institute of Technology, Sweden.
2008 (English)Report (Other academic)
Abstract [en]

The inverse dynamics for a flexible manipulator can be formulated as a differential-algebraic equation (DAE). The the inverse dynamics is, e.g., used for feedforward control. This work investigates different methods for analyzing and solving these equations.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2008. , 36 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2866
Keyword [en]
Robotics- -Manipulators--Control--Flexible arms--Differential-algebraic equations
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-56178ISRN: LiTH-ISY-R-2866OAI: diva2:316993
Swedish Research Council
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-09-02Bibliographically approved

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Moberg, Stig
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Automatic ControlThe Institute of Technology
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ReferencesLink to record
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