New Results on Trajectory Planning for Underactuated Mechanical Systems with Singularities in Dynamics of a Motion Generator

The new approach to the problem of motion planning for underactuated mechanical systems is proposed. The novelty comes from new opportunities to handle singularities of the dynamics of the motion generator provided that the motion is rewritten using the nested representation and kinematic servo-connection between generalized coordinates of the system. The contribution is illustrated by the example of planning oscillations of the Furuta pendulum around the horizontal.