Trajectory optimization in terms of quasi-velocity vector

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Jan 2006Publisher:IEEEJournal:Proceedings of the 45th IEEE Conference on Decision and Control

Authors: Przemyslaw Herman; Krzysztof Kozlowski;

doi: 10.1109/cdc.2006.376881

Trajectory optimization in terms of quasi-velocity vector

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Abstract

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

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Poznań University of Technology
Poland

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