TY - GEN
T1 - Singularity-Free Inverse Dynamics for Underactuated Systems with a Rotating Mass
AU - Tafrishi, Seyed Amir
AU - Svinin, Mikhail Mikhailovich
AU - Yamamoto, Motoji
N1 - Funding Information:
ACKNOWLEDGMENT This research was supported, in part, by the Japan Science and Technology Agency, the JST Strategic International Collaborative Research Program, Project No. 18065977.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - 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.
AB - 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.
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U2 - 10.1109/ICRA40945.2020.9197306
DO - 10.1109/ICRA40945.2020.9197306
M3 - Conference contribution
AN - SCOPUS:85092744872
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3981
EP - 3987
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -