Optimal dynamics of actuated kinematic chains. II: Problem statements and computational aspects

DOI10.1016/J.EUROMECHSOL.2005.03.002zbMath1070.70004OpenAlexW2050951318MaRDI QIDQ2484316

Stéphane Chessé, Guy Bessonnet

Publication date: 1 August 2005

Published in: European Journal of Mechanics. A. Solids (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.euromechsol.2005.03.002

zbMATH Keywords

penalty methodPontryagin maximum principleHamiltonian dynamic model

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Dynamics of multibody systems (70E55)

Related Items (2)

Energetic versus sthenic optimality criteria for gymnastic movement synthesis ⋮ Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints

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• Studies of human locomotion via optimal programming
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• Time-optimal motions of robots in assembly tasks
• An Algorithm for Obtaining Bang-Bang Control Laws
• Control of a biped robot in the double-support phase

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