Singularity-Free Inverse Dynamics for Underactuated Systems with a Rotating Mass
Seyed Amir Tafrishi,Mikhail Svinin,Motoji Yamamoto,Seyed Amir Tafrishi,Mikhail Svinin,Motoji Yamamoto
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 ...
