Embedded optimal control of robot manipulators with passive joints
type: Item
instance of: scholarly article
title: Embedded optimal control of robot manipulators with passive joints
zbMATH Open document ID: 1394.70029
DOI: 10.1155/2015/348178
author: Alberto Olivares
author: Ernesto Staffetti
published in: Mathematical Problems in Engineering
publication date: 2018-08-27T00:00:00Z
review text: Summary: This paper studies the optimal control problem for planar underactuated robot manipulators with two revolute joints and brakes at the unactuated joints in the presence of gravity. The presence of a brake at an unactuated joint gives rise to two operating modes for that joint: free and braked. As a consequence, there exist two operating modes for a robot manipulator with one unactuated joint and four operating modes for a manipulator with two unactuated joints. Since these systems can change dynamics, they can be regarded as switched dynamical systems. The optimal control problem for these systems is solved using the so-called embedding approach. The main advantages of this technique are that assumptions about the number of switches are not necessary, integer or binary variables do not have to be introduced to model switching decisions between modes, and the optimal switching times between modes are not unknowns of the optimal control problem. As a consequence, the resulting problem is a classical continuous optimal control problem. In this way, a general method for the solution of optimal control problems for switched dynamical systems is obtained. It is shown in this paper that it can deal with nonintegrable differential constraints.
Mathematics Subject Classification ID: 70E60
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 6926107
Wikidata QID: Q59118094
describes a project that uses: Bonmin
describes a project that uses: OTIS
describes a project that uses: Ipopt
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2015/348178
OpenAlex ID: W1673856681
cites work: A numerical analysis of chaos in the double pendulum
cites work: Control Design and Analysis for Underactuated Robotic Systems
cites work: Energy-optimal trajectory planning for the Pendubot and the Acrobot
cites work: Handbook of Hybrid Systems Control
cites work: Q3372679
cites work: Optimal control of switching systems
cites work: Applications of numerical optimal control to nonlinear hybrid systems
cites work: Low-Order Controllability and Kinematic Reductions for Affine Connection Control Systems
cites work: Direct trajectory optimization using nonlinear programming and collocation
cites work: Energy-optimal multi-goal motion planning for planar robot manipulators
cites work: On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
cites work: An algorithmic framework for convex mixed integer nonlinear programs
description: scientific article; zbMATH DE number 6926107