On the Solution of Inverse Dynamics and Trajectory

  title={On the Solution of Inverse Dynamics and Trajectory},
  author={C. L. Bottasso and Alessandro Croce and Luca Ghezzi and PAOLO FAURE},
We study the solution of inverse multibody dynamics problems, here intended as optimal control problems for dynamical systems governed by differential-algebraic equations. The optimal control problem can involve control and state equality and inequality constraints and general objective functions. We analyze various possible alternative strategies for the… CONTINUE READING