Analytical time optimal control solution for a two-link planar acrobot with initial angular momentum

IEEE Transactions on Robotics and Automation

Volumn 17, Issue 3, 2001, Pages 361-366

  Mita, Tsutomu ^a   Hyon, Sang Ho ^a   Nam, Taek Kun ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Acrobat robot; Initial angular momentum; Nonholonomic control; Time optimal control

Indexed keywords

ALGORITHMS; COMPUTATIONAL METHODS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); OPTIMIZATION; ROBOTS; SWITCHING; THEOREM PROVING;

ANGULAR MOMENTUM; PLANAR ACROBOTS;

OPTIMAL CONTROL SYSTEMS;

EID: 0035357221     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.938392     Document Type: Article

References (12)

1. Nonholonomic path planning of space robots via a bidirectional approach
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4. Variable constraint control of underactuated free flying robots
5. Developments in nonholonomic control problems
6. 3D attitude control methods for free-flying dynamic system with initial angular momentum
7. Steering of a class of nonholonomic systems with drift terms
8. Control of a two-link robot to achieve sliding and hopping gaits
9. Analytical time optimal control solution for free flying objects with drift term