real-time motion planning for multibody systems |
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Authors: | Enrico Bertolazzi Francesco Biral Mauro Da Lio |
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Affiliation: | (1) Department of Mechanical and Structural Engineering, University of Trento, via Mesiano 77, I-38050 Trento, Italy |
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Abstract: | The solution of constrained motion planning is an important task in a wide number of application fields. The real-time solution
of such a problem, formulated in the framework of optimal control theory, is a challenging issue. We prove that a real-time
solution of the constrained motion planning problem for multibody systems is possible for practical real-life applications
on standard personal computers.
The proposed method is based on an indirect approach that eliminates the inequalities via penalty formulation and solves the
boundary value problem by a combination of finite differences and Newton–Broyden algorithm. Two application examples are presented
to validate the method and for performance comparisons. Numerical results show that the approach is real-time capable if the
correct penalty formulation and settings are chosen. |
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Keywords: | Optimal control Penalty formulation Newton method Broyden update Real-time Multibody |
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