@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}, }