Analysis of open-loop control design and parallel computation for underactuated manipulators

DOI10.1007/S00707-020-02656-0zbMath1440.70006OpenAlexW3014395858MaRDI QIDQ776662

Guaraci jun. Bastos, Olivier Brüls

Publication date: 10 July 2020

Published in: Acta Mechanica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00707-020-02656-0

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

A non‐inherent parametric estimation for dynamical equivalence of flexible manipulators

Uses Software

• ACADO
• SOCS

Cites Work

• Dynamics of underactuated multibody systems. Modeling, control and optimal design
• Inverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach
• Numerical integration of multibody system dynamic equations using the coordinate partitioning method in an implicit Newmark scheme
• A geometric optimization method for the trajectory planning of flexible manipulators
• Convergence of the generalized-\(\alpha\) scheme for constrained mechanical systems
• Optimization of Multibody Systems and Their Structural Components
• ACADO toolkit-An open-source framework for automatic control and dynamic optimization
• A Time Integration Algorithm for Structural Dynamics With Improved Numerical Dissipation: The Generalized-α Method
• Sensitivity analysis for dynamic mechanical systems with finite rotations
• Practical Methods for Optimal Control and Estimation Using Nonlinear Programming
• Numerical Optimization
• Exploiting Invariants in the Numerical Solution of Multipoint Boundary Value Problems for DAE
• Nonlinear inversion-based output tracking
• Fast Direct Multiple Shooting Algorithms for Optimal Robot Control
• Nonlinear Programming

This page was built for publication: Analysis of open-loop control design and parallel computation for underactuated manipulators