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
fDate :
6/1/2001 12:00:00 AM
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;
Journal_Title :
Robotics and Automation, IEEE Transactions on
