Tafrishi, Seyed Amir ![]() |
Abstract
In this paper, we present a model for the inverse dynamics of underactuated manipulators that is free from inertial coupling singularities. The framework’s main idea is to include a small-amplitude wave on the trajectory of the rotating active joints. First, we derive the modified nonlinear dynamics for the multijoint manipulators with multiple degrees-of-freedom (DoF). Next, a 4-DoF mass-rotating underactuated manipulator with two passive and two active joints is chosen. Then, a condition assuming the positive definiteness of the inertia matrix is developed to have the singularity-free inverse dynamics. Finally, we analytically study how singularities can be avoided and show an example simulation with a feed-forward control at the singular configuration.
Item Type: | Article |
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Date Type: | Published Online |
Status: | Published |
Schools: | Engineering |
Publisher: | Springer Verlag (Germany) |
ISSN: | 1384-5640 |
Date of Acceptance: | 25 March 2021 |
Last Modified: | 24 Jan 2023 02:08 |
URI: | https://orca.cardiff.ac.uk/id/eprint/155878 |
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