Analytical time optimal control solution for a two-link planar acrobot with initial angular momentum

Authors
Mita, T Hyon, SH Nam, TK
Citation
T. Mita et al., Analytical time optimal control solution for a two-link planar acrobot with initial angular momentum, IEEE ROBOT, 17(3), 2001, pp. 361-366
Citations number
12
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
ISSN journal
1042296X → ACNP
Volume
17
Issue
3
Year of publication
2001
Pages
361 - 366
Database
ISI
SICI code
1042-296X(200106)17:3<361:ATOCSF>2.0.ZU;2-X
Abstract
In order to control gymnastic and jumping robots, we will derive the comple te analytical solution to the posture control problem of a two-link free fl ying object with initial angular momentum. We will show that the solution i nvolves singular control and derive formulas to calculate the optimal switc hing condition optimal terminal time and optimal trajectories. As an applic ation, a high diving motion is simulated.