Trajectory optimization in terms of quasi-velocity vector

Przemysław Herman; Krzysztof Kozłowski

doi:10.1109/CDC.2006.376881

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Title

Trajectory optimization in terms of quasi-velocity vector

Authors

Przemysław Herman ^{[ 1 ][ P ]}
Krzysztof Kozłowski ^{[ 1 ][ P ]}

^{[ 1 ]} Katedra Inżynierii Komputerowej (KIk), Wydział Informatyki i Zarządzania, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2006

Chapter type

paper

Publication language

english

Abstract

EN This paper deals with optimization of unnormalized quasi-velocities (UQV) introduced originally by Jain and Rodriguez (1995). The UQV are based on a decomposition of the manipulator mass matrix. The optimization is based on the Pontryagin maximum principle. It is shown that the optimal UQV make it possible to detect some properties of the system that are not observable if the system is described by using second-order differential equations of motion. The proposed approach was tested analytically and by simulations on a 2-d.o.f. planar mechanical system.

Pages (from - to)

881 - 886

DOI

10.1109/CDC.2006.376881

URL

https://ieeexplore.ieee.org/document/4177015

Book

Proceedings of the 45th IEEE Conference on Decision and Control

Presented on

45th IEEE Conference on Decision and Control, 14-15.12.2006, San Diego, United States

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