Inverse dynamics of underactuated mechanical systems: A simple case study and experimental verification

Underactuated systems are featured by fewer control inputs than the degrees-of-freedom, m < n. The determination of an input control strategy that forces such a system to complete a set of m specified motion tasks is a challenging task, and the explicit solution existence is conditioned to differential flatness of the problem. The flatness-based solution denotes that all the 2n states and m control inputs can be algebraically expressed in terms of the m specified outputs and their time derivatives up to a certain order, which is in practice attainable only for simple systems. In this contribution the problem is posed in a more practical way as a set of index-three differential–algebraic equations, and the solution is obtained numerically. The formulation is then illustrated by a two-degree-of-freedom underactuated system composed of two rotating discs connected by a torsional spring, in which the pre-specified motion of one of the discs is actuated by the torque applied to the other disc, n = 2 and m = 1. Experimental verification of the inverse simulation control methodology is reported.