ON OPTIMAL-CONTROL OF MULTILINK VERTICAL PLANAR ROBOT ARMS SYSTEMS MOVING UNDER THE EFFECT OF GRAVITY

How to obtain a workable initial guess to start an optimal control (co ntrol parametrization) algorithm is an important question. In particul ar, for a system of multi-link vertical planar robot arms moving under the effect of gravity and applied torques (which can exhibit chaotic behaviour), a non-workable initial guess of torques may cause integrat ion failure regardless of what numerical packages are used. In this pa per, we address this problem by introducing a simple and intuitive ''B lind Man'' algorithm. Theoretical justification as well as a numerical example is provided.