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 -