Spatial Operator Approach to Under-Actuated Manipulator Kinematics and Dynamics

This paper studies the kinematics and dynamics of underactuated manipulators. The presence of passive hinges causes the kinematics and dynamics of these manipulators to be considerably more complex when compared with fully-actuated manipulators. Techniques from the spatial operator algebra are used to develop expressions for the generalized Jacobian, the mass matrix and an efficient inverse dynamics computational algorithm.