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Keywords: feedforward control
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Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031002.
Paper No: JMR-22-1261
Published Online: January 25, 2023
...Jason Bettega; Dario Richiedei; Iacopo Tamellin; Alberto Trevisani An enhanced inverse dynamics approach is here presented for feedforward control of underactuated multibody systems, such as mechanisms or robots where the number of independent actuators is smaller than the number of degrees...