The inverse dynamics analysis of underactuated multibody systems aims at determining the control inputs in order to track a prescribed trajectory this paper studies the inverse dynamics of non minimum phase underactuated multibody systems with serial and parallel planar topology eg for end . Inverse dynamics of underactuated multibody systems mahmud quasem servo constraints may be used for trajectory tracking problems where the vector valued functiont rm multibody system dynamics 114 343 364 2004. The inverse dynamics analysis of underactuated multibody systems aims at determining the control inputs in order to track a prescribed trajectory. The present work deals with the inverse dynamics simulation of underactuated multibody systems in particular the study focuses on solving trajectory tracking control problems of differentially flat underactuated systems. Inverse dynamics of a flexible 3d robotic arm for a trajectory tracking task arthur lismonde valentin sonneville and olivier bruls dynamics of underactuated multibody systems modeling control and optimal design solid mechanics and its applications springer 2014
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