The Proceedings of the Dynamics & Design Conference
Online ISSN : 2424-2993
2007
Session ID : 130
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130 Study on Motion Optimization of Multibody Systems : The Case of Tree-Structure Link Systems
Makoto IWAMURATomohisa KOGA
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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.
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© 2007 The Japan Society of Mechanical Engineers
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