Simultaneous Space-Time Discretization for Controlling the Motion of Rigid Bodies Actuated Through Elastic Ropes
Date
Authors
Type
Konferenciacikk
Language
en
Reading access rights:
Open access
Rights Holder
Budapest University of Technology and Economics
Conference Date
2021.12.12-2021.12.15
Conference Place
Online
Conference Title
ECCOMAS Thematic Conference on Multibody Dynamics
ISSN, e-ISSN
978-963-421-870-21
Container Title
Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS
Department
Műszaki Mechanikai Tanszék
First Page
102
Subject (OSZKAR)
Flexible multibody system
Cooperative control
Inverse dynamics
Cooperative control
Inverse dynamics
Gender
Konferencia kiadvány
University
Budapesti Műszaki és Gazdaságtudományi Egyetem
- Cite this item
- https://doi.org/10.3311/ECCOMASMBD2021-153
OOC works
Abstract
This contribution deals with the feedforward control of rigid bodies actuated through elastic ropes. After introducing a method which enables a stable inversion process of the dynamics of a geometrically exact rope, a strategy to solve the cooperative control of a rigid body through multiple ropes is presented.