Singularity-free inverse dynamics for underactuated systems with a rotating mass

Tafrishi, Seyed Amir ORCID: https://orcid.org/0000-0001-9829-3144, Svinin, Mikhail and Yamamoto, Motoji 2020. Singularity-free inverse dynamics for underactuated systems with a rotating mass. Presented at: 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 31 May - 31 August 2020. 2020 IEEE International Conference on Robotics and Automation (ICRA). 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, pp. 3981-3987. 10.1109/ICRA40945.2020.9197306

Full text not available from this repository.

Abstract

Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial coupling that passive joints/bodies create. In this study, we present a model that is free from singularity while the trajectory of the rotating mass has a small-amplitude sine wave around its circle. First, we derive the modified non-linear dynamics for a rolling system. Also, the singularity regions for this underactuated system is demonstrated. Then, the wave parameters are designed under certain conditions to remove the coupling singularities. We obtain these conditions from the positive definiteness of the inertia matrix in the inverse dynamics. Finally, the simulation results are confirmed by using a prescribed Beta function on the specified states of the rolling carrier. Because our algebraic method is integrated into the non-linear dynamics, the proposed solution has a great potential to be extended to the Lagrangian mechanics with multiple degrees-of-freedom

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Published Online
Status:	Published
Schools:	Engineering
Publisher:	IEEE
ISBN:	978-1-7281-7395-5
Last Modified:	31 Jan 2023 16:00
URI:	https://orca.cardiff.ac.uk/id/eprint/155883

Citation Data

Cited 3 times in Scopus. View in Scopus. Powered By Scopus® Data

Actions (repository staff only)

Edit Item