Inverse dynamics of underactuated multibody systems

Dynamics of Multibody Systems

Attitude Control of Underactuated Multibody Spacecraft

A three dimensional reorientation problem for an underactuated multi-body spacecraft is studied. Formulae for approximating the change in orientation of the base body of the spacecraft, induced by appropriately constructed small amplitude periodic joint motions, are derived. These formulae are used to construct joint motions that cause a desired reorientation maneuver to be performed within a p...

Dynamics and Control of Multibody Systems

Dynamics and control of a class of underactuated mechanical systems

This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are...

Formulation of Dynamics for Serial Rigid Multibody Systems

There has been a growing interest in the development of new and e cient algorithms for multibody dynamics in recent years. Serial rigid multibody systems form the basic subcomponents of general multibody systems and a variety of algorithms to solve the serial chain forward dynamics problem have been proposed. In this paper, the economy of representation and analysis tools provided by the spatia...