Multibody Dynamics

Volume 42 of the series Computational Methods in Applied Sciences pp 1-18


Numerical Integration of Underactuated Mechanical Systems Subjected to Mixed Holonomic and Servo Constraints

  • Peter BetschAffiliated withInstitut für Mechanik, Karlsruher Institut für Technologie Email author 
  • , Robert AltmannAffiliated withInstitut für Mathematik, Technische Universität Berlin
  • , Yinping YangAffiliated withInstitut für Mechanik, Karlsruher Institut für Technologie

* Final gross prices may vary according to local VAT.

Get Access


A new index reduction approach is developed for the inverse dynamics simulation of underactuated mechanical systems. The underlying equations of motion contain both holonomic and servo constraints. The proposed method is applied to a very general and versatile formulation of cranes. The numerical results demonstrate the functional efficiency of the method.


Underactuated mechanical systems Feedforward control Inverse dynamics Differentially flat systems