抄録
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.
