Study on Optimal Control Algorithm for Link Mechanisms-The Case of Open-Link Mechanisms

Autor:	Yusuke Masuya, Makoto Iwamura, Hiroaki Ozaki, Tomohisa Koga
Rok vydání:	2007
Předmět:	Mathematical optimization Cornacchia's algorithm Out-of-kilter algorithm Link (geometry) Boundary value problem Suurballe's algorithm Optimal control Gradient method Optimal control algorithm Mathematics
Zdroj:	Journal of the Robotics Society of Japan. 25:717-726
ISSN:	1884-7145 0289-1824
DOI:	10.7210/jrsj.25.717
Popis:	This paper proposes a general optimal control algorithm for open-link mechanisms. Using the minimum principle, the optimal control problem can be transformed to a two-point boundary value problem of canonical equations of Hamilton. In order to solve the two-point boundary value problem efficiently, a recursive computational algorithm for canonical equations of Hamilton is developed based on the dynamics computational algorithm for link mechanisms. Then, a general optimal control algorithm for open-link mechanisms is formulated by connecting the present recursive algorithm and the robust optimal control algorithm called hierarchical gradient method that developed by authors previously. Some simulation results are shown to verify the effectiveness of the proposed algorithm.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::962985f6f9d7ac0c8195e0420d0fbf0c https://doi.org/10.7210/jrsj.25.717 Zobrazit plný text záznamu