Inverse dynamics of underactuated planar manipulators without inertial coupling singularities

DOI10.1007/S11044-021-09788-8MaRDI QIDQ2247236zbMATH OpenOpenAlexFDO

Authors Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto

Publication date 17 November 2021

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-021-09788-8

zbMATH Keywords

inertial couplinginverse dynamicsLagrangian mechanicsmodelingsingularity

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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Cites work

• A dynamic coupling index for underactuated manipulators
• A hybrid switching control strategy for nonlinear and underactuated mechanical systems
• Controlling angular oscillations through mass reconfiguration: a variable length pendulum case
• Index reduction by minimal extension for the inverse dynamics simulation of cranes
• Inverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach
• Inverse dynamics-based motion control of a fluid-actuated rolling robot
• Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
• Solution Techniques for Problems of Inverse Dynamics of Flexible Underactuated Systems

Cited in

(6)

• Inverse dynamics of parallel manipulators in the presence of drive singularities
• A catalog of inverse-kinematics planners for underactuated systems on matrix groups
• The dexterity and singularities of an underactuated robot
• scientific article; zbMATH DE number 1304546 (Why is no real title available?)
• Dynamics and Coupling Actuation of Elastic Underactuated Manipulators
• Inverse dynamics of a planetary gear train for robotics

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