TY - GEN

T1 - Time-energy optimal control of articulated systems with geometric path constraints

AU - Shiller, Zvi

PY - 1994

Y1 - 1994

N2 - A method is presented for optimizing the motions of articulated systems along specified paths, minimizing a time-energy cost function. Using a transformation to path variables, the optimization problem is formulated in a reduced two dimensional state space. The necessary conditions for optimality, stated for the reduced problem, lead to a compact two point boundary value problem that requires the iterations of only one boundary condition. The optimal control obtained for this problem is smooth, as opposed to the typically discontinuous time optimal control. The method is demonstrated numerically for a two link planar manipulator, and experimentally for the UCLA Direct Drive Arm. The smoother time-energy optimal trajectory is shown to result in smaller tracking errors than the time optimal trajectory.

AB - A method is presented for optimizing the motions of articulated systems along specified paths, minimizing a time-energy cost function. Using a transformation to path variables, the optimization problem is formulated in a reduced two dimensional state space. The necessary conditions for optimality, stated for the reduced problem, lead to a compact two point boundary value problem that requires the iterations of only one boundary condition. The optimal control obtained for this problem is smooth, as opposed to the typically discontinuous time optimal control. The method is demonstrated numerically for a two link planar manipulator, and experimentally for the UCLA Direct Drive Arm. The smoother time-energy optimal trajectory is shown to result in smaller tracking errors than the time optimal trajectory.

KW - Acceleration

KW - Boundary value problems

KW - Errors

KW - Iterative methods

KW - Manipulators

KW - Mathematical transformations

KW - Motion control

KW - Optimization

KW - State space methods

KW - Tracking (position)

KW - Velocity

KW - Articulated systems

KW - Geometric path constraints

KW - Optimal trajectory

KW - Optimality

KW - Pontryagin's maximum principle

KW - Time energy cost function

KW - Time energy optimal control

KW - Tracking error

KW - Two dimensional state space

KW - Two link planar manipulator

KW - Optimal control systems

UR - http://www.scopus.com/inward/record.url?scp=0028016905&partnerID=8YFLogxK

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AN - SCOPUS:0028016905

SN - 0818653329

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 2680

EP - 2685

BT - Proceedings - IEEE International Conference on Robotics and Automation

T2 - Proceedings of the 1994 IEEE International Conference on Robotics and Automation

Y2 - 8 May 1994 through 13 May 1994

ER -