| Autor: |
Lee, H. W. J., Teo, K. L., Jennings, L. S. |
| Zdroj: |
Journal of the Australian Mathematical Society Series B: Applied Mathematics; Oct1997, Vol. 39 Issue 2, p195-213, 19p |
| Abstrakt: |
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. [ABSTRACT FROM PUBLISHER] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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