On optimal control of multi-link vertical planar robot arms systems moving under the effect of gravity

Heung Wing Joseph Lee, K. L. Teo, L. S. Jennings

Research output: Journal article publicationJournal articleAcademic researchpeer-review

5 Citations (Scopus)


How to obtain a workable initial guess to start an optimal control (control parametrization) algorithm is an important question. In particular, for a system of multi-link vertical planar robot arms moving under the effect of gravity and applied torques (which can exhibit chaotic behaviour), a non-workable initial guess of torques may cause integration failure regardless of what numerical packages are used. In this paper, we address this problem by introducing a simple and intuitive "Blind Man" algorithm. Theoretical justification as well as a numerical example is provided.
Original languageEnglish
Pages (from-to)195-213
Number of pages19
JournalJournal of the Australian Mathematical Society Series B-Applied Mathematics
Issue number2
Publication statusPublished - 1 Oct 1997

ASJC Scopus subject areas

  • Applied Mathematics

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