Hamiltonian exploitation in underactuated robot system inversion

A new stable model inversion method extension is presented with the aim of providing solutions to the feedforward control of underactuated robots performing cyclic tasks. The method uses a boundary value problem framework along with a Hamiltonian formalism, representing the dynamic equations of motion, to find solutions for the control of movement between non-equilibrium points in taskspace. The benefits of the method are demonstrated with a simulated robot system.