Inverse dynamics of underactuated planar manipulators without inertial coupling singularities

Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)407-429
Number of pages23
JournalMultibody System Dynamics
Issue number4
Publication statusPublished - Aug 2021

All Science Journal Classification (ASJC) codes

  • Modelling and Simulation
  • Aerospace Engineering
  • Mechanical Engineering
  • Computer Science Applications
  • Control and Optimization


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