A General Purpose Algorithm for Optimal Trajectory Planning of Closed Loop Multibody Systems

DOI10.1007/978-90-481-9971-6_9zbMath1250.70009OpenAlexW20629051WikidataQ59899622 ScholiaQ59899622MaRDI QIDQ3003924

Makoto Iwamura, Peter Eberhard, Robert Seifried, Werner O. Schiehlen

Publication date: 31 May 2011

Published in: Computational Methods in Applied Sciences (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-90-481-9971-6_9

zbMATH Keywords

optimal controlLagrange multipliersstabilizationembedding techniques

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Control of mechanical systems (70Q05) Dynamics of multibody systems (70E55)

Related Items (3)

Input torque sensitivity to uncertain parameters in biped robot ⋮ A method for computing the Hessian tensor of loop closing conditions in multibody systems ⋮ A General Purpose Algorithm for Optimal Trajectory Planning of Closed Loop Multibody Systems

Cites Work

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• A General Purpose Algorithm for Optimal Trajectory Planning of Closed Loop Multibody Systems
• Suboptimal control of industrial manipulators with a weighted minimum time-fuel criterion
• A dynamic programming approach to trajectory planning of robotic manipulators
• Time-optimal motions of robots in assembly tasks
• On global convergence of an algorithm for optimal control
• Near-optimal nonholonomic motion planning for a system of coupled rigid bodies

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