Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 50th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 7W4-5
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Host: The Institute of Systems, Control and Information Engineers

Optimal Trajectory Design of Variable Geometry Truss
Hiroaki Yoshimura, Ryozo Oshima, *Hiroshi Oka
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Keywords: space structure, optimal trajectory, redundancy, inverse dynamics
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Abstract
We investigate optimal control design of a planar variable geometry truss. Due to high redundancy of the system, we need some systematic optimal trajectory design of generating a motion of the whole system for a required tip motion. Then, we shall propose an algorithm of optimal trajectory design based on inverse kinematics and dynamics. Lastly, we shall illustrate numerical results in simulation.
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© 2006 The Institute of Systems, Control and Information Engineers
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