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

DOI10.1007/S00707-020-02656-0MaRDI QIDQ776662zbMATH OpenOpenAlexFDO

Authors 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)

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Cites work

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

Cited in

(3)

• The Design of Open-Loop Manipulator Arms With Decoupled and Configuration-Invariant Inertia Tensors
• Open-Loop Control of Underactuated Mechanical Systems Using Servo-Constraints: Analysis and Some Examples
• A non‐inherent parametric estimation for dynamical equivalence of flexible manipulators

Describes a project that uses

Uses Software

• SOCS
• ACADO

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