DocumentCode
2127496
Title
Optimal trajectory planning for structure-variant mechanical systems
Author
Yunt, Kerim
Author_Institution
Dept. of Mech. & Process Eng., Swiss Inst. of Technol., Zurich
fYear
2006
fDate
5-7 June 2006
Firstpage
298
Lastpage
303
Abstract
The planning of optimal trajectories for nonholonomic systems and of structure-variant mechanical systems are active research areas. In this report the optimal trajectories of a structure-variant mechanical systems are determined by making use of a combined direct shooting and successive unconstrained minimization method (SUMT), which performs the integrations of the dynamical system based on the timestepping scheme. A certificate of optimality is provided for the structure-variant trajectories obtained by the new optimization method
Keywords
manipulator dynamics; minimisation; optimal control; path planning; position control; time-varying systems; variable structure systems; dynamical system; nonholonomic systems; optimal trajectory planning; structure-variant mechanical systems; successive unconstrained minimization method; timestepping scheme; Control systems; Cost function; Manipulators; Mechanical systems; Mechanical variables measurement; Minimization methods; Optimal control; Trajectory; Velocity control; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Variable Structure Systems, 2006. VSS'06. International Workshop on
Conference_Location
Alghero, Sardinia
Print_ISBN
1-4244-0208-5
Type
conf
DOI
10.1109/VSS.2006.1644534
Filename
1644534
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