Motion planning of under-actuated mechanical systems: convergence analysis for iterative methods

For the motion planning problem, an iterative algorithm has been proposed as a general method. However, when we apply the algorithm to the problem of under-actuated mechanical systems, there are many cases when the convergence performance becomes too poor and we can not obtain the solution. We investigate the reason why the performance becomes poor and propose a method to improve the convergence performance. The effectiveness of the proposed method is shown by using an index that expresses the convergence performance.