Energy-optimal trajectory planning for planar underactuated \(RR\) robot manipulators in the absence of gravity

DOI10.1155/2013/476094zbMath1271.93108WikidataQ58916367 ScholiaQ58916367MaRDI QIDQ369968

Mohammad Hasan, M. Dambrine, H. S. Yoon

Publication date: 19 September 2013

Published in: Abstract and Applied Analysis (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1155/2013/476094

zbMATH Keywords

revolute joints; Euler-Lagrange necessary condition; minimal energy consumption; planar underactuated robot manipulators

Mathematics Subject Classification ID

49N90: Applications of optimal control and differential games

93B27: Geometric methods

93C85: Automated systems (robots, etc.) in control theory

68T42: Agent technology and artificial intelligence