...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...

...Thanh-Trung Do; Viet-Hung Vu; Zhaoheng Liu A new symbolic differentiation algorithm is proposed in this paper to automatically generate the inverse dynamics of flexible-joint robots in symbolic form, and results obtained can be used in real-time applications. The proposed method with O ( n...

..., are modeled in this study using the finite element (FE) floating frame of reference (FFR) formulation which employs two coupled sets of coordinates: the reference and elastic coordinates. The inverse dynamics, based on the FFR formulation, leads to driving forces associated with the deformation degrees...