Title :
Impulsive time-optimal control of underactuated manipulators with impactively blockable degrees of freedom
Author_Institution :
Fac. of Mech. & Process Eng., Swiss Fed. Inst. of Technol., Zurich, Switzerland
Abstract :
In this work, the necessary conditions for the impulsive optimal control of robotic manipulators with impactively blockable DOF is given. The necessary conditions are derived by applying subdifferential calculus to lower semi-continuous functions. Pontryagin´s Maximum Principle (PMP) like necessary conditions are obtained for the optimal control problem with impactive transitions. An application and numerical results for a two-degree-of-freedom (DOF) planar manipulator is presented.
Keywords :
manipulators; maximum principle; PMP; Pontryagin maximum principle; impactively blockable degrees of freedom; impulsive time-optimal control; planar manipulator; robotic manipulators; semi-continuous functions; underactuated manipulators; Equations; Force; Joints; Manipulators; Mechanical systems; Optimal control; Vectors;
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6
