Ball-and-finger system: modeling and optimal trajectories

DOI10.1007/S11044-018-9617-8zbMath1407.70015OpenAlexW2784979319MaRDI QIDQ1722658

Fredrik Magnusson, M. Mahdi Ghazaei Ardakani

Publication date: 18 February 2019

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-018-9617-8

zbMATH Keywords

optimal trajectorynon-holonomic constraintdynamics with contactshybrid dynamic optimization

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Collision of rigid or pseudo-rigid bodies (70F35)

Uses Software

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• Ipopt
• Dymola
• Robotics
• SOCS
• OpenModelica
• PSOPT
• Puppeteer

Cites Work

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• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• Branching and bounds tighteningtechniques for non-convex MINLP
• Practical Methods for Optimal Control and Estimation Using Nonlinear Programming
• Dynamic modeling in the simulation, optimization, and control of bipedal and quadrupedal robots
• Approximation Properties and Tight Bounds for Constrained Mixed-Integer Optimal Control

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