Singularity-Free Inverse Dynamics for Underactuated Systems with a Rotating Mass

Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3981-3987
Number of pages7
ISBN (Electronic)9781728173955
DOIs
Publication statusPublished - May 2020
Externally publishedYes
Event2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France
Duration: May 31 2020Aug 31 2020

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2020 IEEE International Conference on Robotics and Automation, ICRA 2020
CountryFrance
CityParis
Period5/31/208/31/20

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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