A General Purpose Algorithm for Optimal Trajectory Planning of Closed Loop Multibody Systems
作者： Makoto Iwamura , Peter Eberhard , Werner Schiehlen , Robert Seifried
DOI: 10.1007/978-90-481-9971-6_9
关键词:
摘要: This paper discusses the optimal trajectory planning problem of multibody systems. The aim this study is to develop a general purpose algorithm be applied arbitrary Multibody systems may divided into two groups, i.e. open loop and closed [8]. In [11] an for was presented. paper, algorithms are proposed by extending Two types methods presented based on dynamic analysis computational first method uses generalized coordinate partitioning embedding techniques. second augmented formulation with Lagrange multipliers. easily applicable non-redundant actuation systems, while considers redundant actuation. validity these confirmed results their features compared.
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