A unified approach for inverse and direct dynamics of constrained multibody systems based on linear projection operator: applications to control and simulation
作者： F. Aghili
关键词: Linear system 、 Dynamic simulation 、 Motion control 、 Control theory 、 Degrees of freedom (mechanics) 、 Control theory 、 Sylvester's law of inertia 、 Constraint (computer-aided design) 、 Mathematics 、 Mechanical system
摘要: … Using the projection operator, we derive models of inverse and direct dynamics in Sections IV and V, which are used as a basis for developing strategies for simulation and control of …
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