Computer simulation of the inverse dynamics of a three-cable suspension manipulator.
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| Title: | Computer simulation of the inverse dynamics of a three-cable suspension manipulator. |
|---|---|
| Authors: | Yang, Yinping1 (AUTHOR) yinping.yang@bjut.edu.cn, Betsch, Peter2 (AUTHOR) peter.betsch@kit.edu, Zhang, Wei1,3 (AUTHOR) sandyzhang9@163.com |
| Source: | Multibody System Dynamics. May2026, Vol. 67 Issue 1, p193-219. 27p. |
| Subjects: | Differential-algebraic equations, Constraint algorithms, Robotic trajectory control, Dynamic simulation, Manipulators (Machinery) |
| Abstract: | A three-cable suspension manipulator is an underactuated mechanical system designed to transport a payload precisely within a workspace. This study addresses its inverse dynamics problem using servo constraints, leading to a high-index system of differential-algebraic equations (DAEs). To overcome the numerical challenges, the index reduction by minimal extension method is applied to the servo constraint problem of the differentially flat system. The proposed approach facilitates precise trajectory tracking and serves as a foundation for implementing feedforward and feedback control strategies in future developments. [ABSTRACT FROM AUTHOR] |
| Copyright of Multibody System Dynamics is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 193859216 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Computer simulation of the inverse dynamics of a three-cable suspension manipulator. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Yang%2C+Yinping%22">Yang, Yinping</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> yinping.yang@bjut.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Betsch%2C+Peter%22">Betsch, Peter</searchLink><relatesTo>2</relatesTo> (AUTHOR)<i> peter.betsch@kit.edu</i><br /><searchLink fieldCode="AR" term="%22Zhang%2C+Wei%22">Zhang, Wei</searchLink><relatesTo>1,3</relatesTo> (AUTHOR)<i> sandyzhang9@163.com</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Multibody+System+Dynamics%22">Multibody System Dynamics</searchLink>. May2026, Vol. 67 Issue 1, p193-219. 27p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Differential-algebraic+equations%22">Differential-algebraic equations</searchLink><br /><searchLink fieldCode="DE" term="%22Constraint+algorithms%22">Constraint algorithms</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+trajectory+control%22">Robotic trajectory control</searchLink><br /><searchLink fieldCode="DE" term="%22Dynamic+simulation%22">Dynamic simulation</searchLink><br /><searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: A three-cable suspension manipulator is an underactuated mechanical system designed to transport a payload precisely within a workspace. This study addresses its inverse dynamics problem using servo constraints, leading to a high-index system of differential-algebraic equations (DAEs). To overcome the numerical challenges, the index reduction by minimal extension method is applied to the servo constraint problem of the differentially flat system. The proposed approach facilitates precise trajectory tracking and serves as a foundation for implementing feedforward and feedback control strategies in future developments. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Multibody System Dynamics is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1007/s11044-025-10121-w Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 27 StartPage: 193 Subjects: – SubjectFull: Differential-algebraic equations Type: general – SubjectFull: Constraint algorithms Type: general – SubjectFull: Robotic trajectory control Type: general – SubjectFull: Dynamic simulation Type: general – SubjectFull: Manipulators (Machinery) Type: general Titles: – TitleFull: Computer simulation of the inverse dynamics of a three-cable suspension manipulator. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Yang, Yinping – PersonEntity: Name: NameFull: Betsch, Peter – PersonEntity: Name: NameFull: Zhang, Wei IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 05 Text: May2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 13845640 Numbering: – Type: volume Value: 67 – Type: issue Value: 1 Titles: – TitleFull: Multibody System Dynamics Type: main |
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