DocumentCode
1747573
Title
Analytical time optimal control solution for a 2-link free flying acrobots
Author
Mita, Tsutomu ; Nam, Taek-Kun ; Hyon, Sang-Ho
Author_Institution
Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan
Volume
3
fYear
2001
fDate
2001
Firstpage
2741
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 formulae to calculate the optimal switching condition, optimal terminal time and optimal trajectories. As an application, a high diving motion is simulated.
Keywords
angular momentum; control system analysis; mobile robots; motion control; robot dynamics; time optimal control; angular momentum; free flying acrobots; gymnastic robots; jumping robots; mobile robots; motion control; optimal terminal time; optimal trajectory; posture control; time optimal control; Control systems; Error correction; Leg; Legged locomotion; Modeling; Motion control; Motion measurement; Optimal control; Parallel robots; Q measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933037
Filename
933037
Link To Document