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A. Sabanoviç, K. Ohnishi
0 13. 3. 2011.

Configuration Space Control

In this chapter control of multibody systems in configuration space is discussed. Configuration control is presented. The enforcement of constraints, the dynamics of constrained systems and the control of unconstrained motion are shown. It is shown that all of these problems can be solved in the acceleration framework. The consistent structure of the transformations providing dynamical decoupling of motion for constraints systems is shown. The solutions are illustrated by examples.


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