%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