Energy-optimal trajectory planning for the Pendubot and the Acrobot
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Publication:2847231
DOI10.1002/oca.2020zbMath1270.93075MaRDI QIDQ2847231
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Publication date: 4 September 2013
Published in: Optimal Control Applications and Methods (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1002/oca.2020
optimal control; nonholonomic constraints; Pendubot; Euler-Lagrange necessary condition; underactuated manipulators; Acrobot; trajectory-planning problem
49N90: Applications of optimal control and differential games
93C85: Automated systems (robots, etc.) in control theory
93C15: Control/observation systems governed by ordinary differential equations
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