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Inverse dynamics of underactuated planar manipulators without inertial coupling singularities

Tafrishi, Seyed Amir ORCID:, Svinin, Mikhail and Yamamoto, Motoji 2021. Inverse dynamics of underactuated planar manipulators without inertial coupling singularities. Multibody System Dynamics 52 (4) , pp. 407-429. 10.1007/s11044-021-09788-8

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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
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

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