Stryk, O. von (1998) Optimal control of multibody systems in minimal coordinates, Z. angew. Math. Mech., 78, Suppl. 3, 1117--1120. Home/Search Document Details and Download
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Trajectory Optimization Of Industrial Robots With Application .. - Heim, von Stryk (1999) (1 citation) (Correct)
....for robot trajectories as easily as DT methods. The efficiency of DT methods can still be increased if the structure of the dynamic equations (1) is taken into account. Thus, optimal PTP trajectories can be computed even for six DOF in 1 min on a standard PC, e.g. a Pentium Pro with 200 MHz [20]. In the case of active state constraints, the computed solutions of DT methods tend to exhibit an oscillatory behavior on state constrained subarcs, e.g. see [22] The reasons are the only pointwise fulfilled constraints and locally improper parametrizations of state constraints. e.g. if a ....
Stryk, O. von (1998) Optimal control of multibody systems in minimal coordinates, Z. angew. Math. Mech., 78, Suppl. 3, 1117--1120.
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