%0 Journal Article
	%A Gilberto Gonzalez-A and  Ignacio Rodríguez- A. and  Dunia Nuñez-P
	%D 2012
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 69, 2012
	%T Model Inversion of a Two Degrees of Freedom Linearized PUMA from Bicausal Bond Graphs
	%U https://publications.waset.org/pdf/15119
	%V 69
	%X 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.
	%P 1046 - 1051