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
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933037
