Model Inversion of a Two Degrees of Freedom Linearized PUMA from Bicausal Bond Graphs
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چکیده
A bond graph model of a two degrees of freedom PUMA is described. System inversion gives the system input required to generate a given system output. In order to get the system inversion of the PUMA manipulator, a linearization of the nonlinear bond graph is obtained. Hence, the bicausality of the linearized bond graph of the PUMA manipulator is applied. Thus, the bicausal bond graph provides a systematic way of generating the equations of the system inversion. Simulation results to verify the calculated input for a given output are shown. Keywords—Bond graph, system inversion, bicausality, PUMA manipulator
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