# Inverse dynamics of underactuated planar manipulators without inertial coupling singularities

> Research article (Multibody System Dynamics, 2021) · cited 10× · AI/ML

**Wikidata**: [openalex:W3148624701](https://www.wikidata.org/wiki/openalex:W3148624701)  
**Source**: https://4ort.xyz/entity/inverse-dynamics-of-underactuated-planar-manipulators-without-inertial-coupling-singularities