2011 年 77 巻 774 号 p. 356-369
The aim of this study is to develop a general purpose optimal trajectory planning algorithm for multibody systems. Multibody systems may be divided into two groups, i.e., open loop systems and closed loop systems. In a previous paper, a general purpose optimal trajectory planning algorithm for open loop systems was suggested. In this paper, optimal trajectory planning algorithms for closed loop systems are proposed by extending the algorithm for open loop systems. Two types of methods are presented by using the dynamics computational algorithms for closed loop systems. The first method is based on the generalized coordinate partitioning and embedding techniques. The second method is based on the augmented formulation with Lagrange multipliers. The validity of these methods for optimal trajectory planning is confirmed by computational results and their features are compared.