Periodic Motion Optimization for an Underactuated Mechanical System through Synergistic Structure-Control Design

In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output feedback linearization, followed by structural optimization of the zero dynamics. Inspired by recent works on the control-oriented design of multibody systems, we define a simulation-...