Optimal Trajectory of Underwater Manipulator Using Adjoint Variable Method for Reducing Drag

DOI10.4236/OJDM.2011.13018zbMath1238.93062OpenAlexW1986760512MaRDI QIDQ2890865

Kazunori Shinohara

Publication date: 12 June 2012

Published in: Open Journal of Discrete Mathematics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.4236/ojdm.2011.13018

zbMATH Keywords

calculus of variationsEuler-Lagrange equationoptimal trajectoryadjoint variable methodfluid drag forcerobot manipulator dynamics

Mathematics Subject Classification ID

Optimality conditions and duality in mathematical programming (90C46) Applications of optimal control and differential games (49N90) Numerical methods based on nonlinear programming (49M37) Automated systems (robots, etc.) in control theory (93C85)

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