Abstract
This study considers the optimal control problem of link systems. The goal of this study is to develop a general optimal control algorithm that can find the solution by inputting only kinematical and dynamical parameters. In the previous report, a general optimal control algorithm for open link systems is suggested as a first step. In this paper, the algorithm is extended as it can be applied to tree-structure link systems. The validity of the method is confirmed by applying it to the problem of a 2D space robot with 2 arms.
