On Energy-Optimal and Time-Optimal Precise Displacement of Rigid Body with Friction
作者： Ilya Ioslovich , Per-Olof Gutman , Ari Berger , Shai Moshenberg
DOI: 10.1007/S10957-016-0913-2
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摘要: Minimal time optimality and minimal energy are usually considered as competing approaches for the trajectory planning precise movement of a rigid body. Theoretical simulation results show that, with appropriate choice constraints, these equivalent in sense that they produce same trajectory. This is globally optimal both objectives. Constraints velocity, driving force jerk taken into account. The model includes Coulomb viscous friction. control solver was used numerical tool.
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