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

DOI10.1155/2013/476094MaRDI QIDQ369968zbMATH OpenOpenAlexWikidataFDO

Authors John Gregory, Alberto Olivares, Ernesto Staffetti

Publication date 19 September 2013

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

Copyright license Creative Commons Attribution 3.0 Unported

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

zbMATH Keywords

Euler-Lagrange necessary conditionminimal energy consumptionplanar underactuated robot manipulatorsrevolute joints

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Agent technology and artificial intelligence (68T42) Automated systems (robots, etc.) in control theory (93C85) Geometric methods (93B27)

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Cites work

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• Optimal Control of Underactuated Nonholonomic Mechanical Systems
• Toward a generalized sub-optimal control method of underactuated systems
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Cited in

(7)

• Energy-optimal trajectory planning for robot manipulators with holonomic constraints
• Energy-optimal multi-goal motion planning for planar robot manipulators
• Energy-optimal control of unconstrained planar RR robot manipulators
• Embedded optimal control of robot manipulators with passive joints
• Energy-optimal trajectory planning for the Pendubot and the Acrobot
• A Hamiltonian approach to compute an energy efficient trajectory for a servomotor system
• Energy minimization of redundant manipulators using Generalized Pattern Search

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