von Stryk, O. and Schlemmer, M.: Optimal Control of the Industrial Robot Manutec r3, in: Control Applications of Optimization, Munchen, 1992, ed. by R. Bulirsch and D. Kraft, Birkhauser (Inter. Series of Numer. Math., this volume), Basel, Switzerland.  Home/Search   Document Details and Download   Summary   Related Articles

....Inbetween these two methods, the direct simple shooting method [36] 37] and the direct multiple shooting method [5] are established. 2 Hans Josef Pesch The present investigations and the results obtained for various real life optimal control problems (cf. 13] 19] 21] 38] 45] 51] [55]) clearly show the trend that control problems are treated of which the mathematical models become closer and closer to reality. This causes an increase of complexity of optimal control problems by an increasing number of constraints, by more complicated differential equations, and finally also by ....

.... = c 1 sin 2 (q 2 q 3 ) c 2 sin 2 (q 2 q 3 ) sin q 2 c 3 sin 2 q 2 c 4 cos 2 (q 2 q 3 ) c 5 cos 2 q 2 c 6 : The full model including all data can be found in [47] and [51] Eighteen control and state variable inequalities constraints are imposed on the model; see [51] and [55] for further information and detailed numerical results which have been obtained by a combination of direct collocation and multiple shooting [54] The qualitatively very different motions of the minimum time and minimum energy trajectories make homotopies by means of the indirect multiple ....

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von Stryk, O. and Schlemmer, M.: Optimal Control of the Industrial Robot Manutec r3, in: Control Applications of Optimization, Munchen, 1992, ed. by R. Bulirsch and D. Kraft, Birkhauser (Inter. Series of Numer. Math., this volume), Basel, Switzerland.

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