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Trajectory Optimization of Flexible Robots Using an Optimal Control Approach
Guimaraes Bastos Junior, Guaraci; Bruls, Olivier
2010In Proceedings of the First Joint International Conference on Multibody System Dynamics
 

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Keywords :
trajectory optimization; flexible robots; optimal control; direct transcription; mechatronic design
Abstract :
[en] In the context of the mechatronic design of lightweight machines and robots, this paper studies optimal control problems in flexible multibody dynamics. Based on a direct transcription of the initial problem, a direct collocation method is used. This method leads to a large but sparse nonlinear programming problem for which standard solvers are available. The implemention of this method based on a finite element simulation tool for flexible multibody systems is described. The connections between the generalized-alpha time integration scheme, which is commonly used for this kind of applications, and the formulation of the optimization problem are highlighted. The methodology is illustrated for two academic examples of rigid and flexible robotic systems.
Disciplines :
Mechanical engineering
Author, co-author :
Guimaraes Bastos Junior, Guaraci ;  Université de Liège - ULiège > Form. doct. sc. ingé. (aérosp. & méca - Bologne)
Bruls, Olivier  ;  Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Language :
English
Title :
Trajectory Optimization of Flexible Robots Using an Optimal Control Approach
Publication date :
May 2010
Event name :
The First Joint International Conference on Multibody System Dynamics
Event place :
Lappeenranta, Finland
Event date :
Du 25 au 27 mai 2010
Audience :
International
Main work title :
Proceedings of the First Joint International Conference on Multibody System Dynamics
ISBN/EAN :
978-952-214-778-3
Available on ORBi :
since 26 November 2010

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