Generating Optimal Motions of Constrained Multibody Systems
نویسندگان
چکیده
A general approach to optimal motion synthesis of constrained multibody systems is presented. It applies to controlled mechanical systems such as industrial manipulators and legged-locomotion systems. An optimal control problem is stated. A parametric optimization technique based on approximating joint motion coordinates using spline functions of class C is developed to recast this primary problem into an optimization problem of mathematical programming. The latter is solved using SQP algorithms.
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