Minimum-time optimal control of robotic manipulators based on Hamel's integrators

DOI10.1007/S11012-019-01093-1MaRDI QIDQ6186763zbMATH OpenOpenAlexWikidataFDO

Authors

Publication date 10 January 2024

Published in Meccanica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11012-019-01093-1

zbMATH Keywords

optimal controldiscrete mechanicsrobotic manipulatorsdiscrete recursive dynamicsHamel's integrators

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15)

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Cites work

• scientific article; zbMATH DE number 6718583 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• A discrete geometric optimal control framework for systems with symmetries
• A dynamic programming approach to trajectory planning of robotic manipulators
• A variational integrator for the Chaplygin-Timoshenko sleigh
• Convexity and optimization in \({\mathbb R^n}\)
• Discrete Euler-Poincaré and Lie-Poisson equations
• Discrete mechanics and optimal control for constrained systems
• Discrete mechanics and variational integrators
• Hamel's formalism and variational integrators
• Optimal Trajectory Generation for Robotic Manipulators Using Dynamic Programming
• Path planning and collision avoidance for robots
• Quasivelocities and symmetries in non-holonomic systems

Cited in

(1)

• Discrete maximum principle in Hamel's formalism for nonholonomic optimal control

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