Abstract
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 language | English |
|---|---|
| Pages (from-to) | 195-213 |
| Number of pages | 19 |
| Journal | Journal of the Australian Mathematical Society Series B-Applied Mathematics |
| Volume | 39 |
| Issue number | 2 |
| Publication status | Published - 1 Oct 1997 |
ASJC Scopus subject areas
- Applied Mathematics