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> Inverse Model, How can I use Dymola to inverse a model ?
mmja
post Jul 3 2012, 02:43 PM
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Hi Everyone

I'm currently training myself on the Dymola environment within Catia V6 (both Dassault Systèmes products) by building a small robot.

For now, I can control this robot with direct kinetic without any problems. The next step would be for me to implement inverse kinetic.

I have looked around and found papers explaining how a plant model can be inversed using Dymola.
Papers:
http://citeseerx.ist.psu.edu/viewdoc/summa...10.1.1.151.1745
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=976287

The second one specifically says in its conclusion:
QUOTE
It turns out that even very complex inverse dynamics models can be generated au- tomatically and reliably using algorithms for handling of differential-algebraic equations e.g. available in the pro- gram Dymola


If I understand well, Dymola cand provide the inverse model with minimum effort. However, I couldn't find the way to do it. Could you please help me?

Thank you in advance

Michel
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