DocumentCode
1516290
Title
Analytical time optimal control solution for a two-link planar aerobot with initial angular momentum
Author
Mita, Tsutomu ; Hyon, Sang-Ho ; Nam, Taek-Kun
Author_Institution
Dept. of Control Eng., Tokyo Inst. of Technol., Japan
Volume
17
Issue
3
fYear
2001
fDate
6/1/2001 12:00:00 AM
Firstpage
361
Lastpage
366
Abstract
In order to control gymnastic and jumping robots, we derive the complete analytical solution to the posture control problem of a two-link free flying object with initial angular momentum. We show that the solution involves singular control and derive formulas to calculate the optimal switching condition, optimal terminal time and optimal trajectories. As an application, a high diving motion is simulated
Keywords
mobile robots; nonlinear control systems; robot dynamics; time optimal control; acrobat robot; free flying object; gymnastic and jumping robots; initial angular momentum; jumping robots; nonholonomic control; singular control; time optimal control; two-link planar aerobot; Angular velocity; Angular velocity control; Controllability; Leg; Legged locomotion; Manipulators; Modeling; Motion control; Optimal control; Parallel robots;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.938392
Filename
938392
Link To Document