Optimal control of multibody systems in minimal coordinates

DOI10.1002/zamm.199807815124zbMath0921.70020OpenAlexW2139937783MaRDI QIDQ4230609

Oskar von Stryk

Publication date: 22 April 1999

Published in: ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/zamm.199807815124

zbMATH Keywords

piecewise polynomial approximationsindustrial robot with six jointsoff-line optimization of robot trajectoriessystem of semi-explicit second order differential equations

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Existence theories for optimal control problems involving ordinary differential equations (49J15)

Related Items

Minimal formulation of joint motion for biomechanisms ⋮ System-based approaches for structural optimization of flexible mechanisms ⋮ Trajectory optimization of industrial robots with application to computer-aided robotics and robot controllers

Uses Software

• TOMP
• SNOPT
• NPSOL
• OTIS

Cites Work

• Unnamed Item
• Unnamed Item
• Direct and indirect methods for trajectory optimization
• The nonlinear programming method of Wilson, Han, and Powell with an augmented Lagrangian type line search function. II. An efficient implementation with linear least squares subproblems
• Sensitivity analysis of initial-value problems with application to shooting techniques
• Computing Forward-Difference Intervals for Numerical Optimization
• Direct trajectory optimization using nonlinear programming and collocation
• State parameterization approach to the solution of optimal control problems
• SNOPT: An SQP Algorithm for Large-Scale Constrained Optimization

This page was built for publication: Optimal control of multibody systems in minimal coordinates