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On optimal control of multi-link vertical planar robot arms systems moving under the effect of gravity

Published online by Cambridge University Press:  17 February 2009

H. W. J. Lee ,
K. L. Teo  and
L. S. Jennings
L. S. Jennings
Affiliation:
Department of Mathematics, The University of Western Australia, Nedlands, WA 6907, Australia
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Abstract

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How to obtain a workable initial guess to start an optimal control (control parametrization) algorithm is an important question. In particular, for a system of multi-link vertical planar robot arms moving under the effect of gravity and applied torques (which can exhibit chaotic behaviour), a non-workable initial guess of torques may cause integration failure regardless of what numerical packages are used. In this paper, we address this problem by introducing a simple and intuitive “Blind Man” algorithm. Theoretical justification as well as a numerical example is provided.

Type
Research Article
Information
The ANZIAM Journal , Volume 39 , Issue 2 , October 1997 , pp. 195 - 213
Copyright
Copyright © Australian Mathematical Society 1997

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