Optimal dynamics of actuated kinematic chains. I: Dynamic modelling and symbolic differentiations

DOI10.1016/J.EUROMECHSOL.2005.03.001MaRDI QIDQ2484315zbMATH OpenOpenAlexFDO

Authors Guy Bessonnet, Philippe Sardain

Publication date 1 August 2005

Published in European Journal of Mechanics. A. Solids (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.euromechsol.2005.03.001

zbMATH Keywords

open-loop multibody systemsoptimality conditionsPontryagin Maximum Principle

Mathematics Subject Classification ID

Symbolic computation and algebraic computation (68W30) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Dynamics of multibody systems (70E55)

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Cites work

• Further study on time optimal control of multi-link mechanical systems
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• scientific article; zbMATH DE number 194356 (Why is no real title available?)
• scientific article; zbMATH DE number 3108949 (Why is no real title available?)
• Model Tracking Control of Hamiltonian Systems

Cited in

(7)

• Multibody dynamic response optimization with ALM and approximate line search
• Symbolic differentiation library for simulation of multibody rigid systems.
• Optimal motion synthesis -- dynamic modelling and numerical solving aspects
• Optimal dynamics of actuated kinematic chains. II: Problem statements and computational aspects
• Generating optimal dynamic motions for closed-chain robotic systems
• Symbolic-numeric efficient solution of optimal control problems for multibody systems
• Analytical differentiation of the articulated-body algorithm: a geometric multilinear approach

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