@article{(Open Science Index):https://publications.waset.org/pdf/15119,
	  title     = {Model Inversion of a Two Degrees of Freedom Linearized PUMA from Bicausal Bond Graphs},
	  author    = {Gilberto Gonzalez-A and  Ignacio Rodríguez- A. and  Dunia Nuñez-P},
	  country	= {},
	  institution	= {},
	  abstract     = {A bond graph model of a two degrees of freedom
PUMA is described. System inversion gives the system input
required to generate a given system output. In order to get the system
inversion of the PUMA manipulator, a linearization of the nonlinear
bond graph is obtained. Hence, the bicausality of the linearized bond
graph of the PUMA manipulator is applied. Thus, the bicausal bond
graph provides a systematic way of generating the equations of the
system inversion. Simulation results to verify the calculated input for
a given output are shown.},
	    journal   = {International Journal of Electrical and Computer Engineering},
	  volume    = {6},
	  number    = {9},
	  year      = {2012},
	  pages     = {1046 - 1051},
	  ee        = {https://publications.waset.org/pdf/15119},
	  url   	= {https://publications.waset.org/vol/69},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 69, 2012},
	}