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.
|Number of pages||19|
|Journal||Journal of the Australian Mathematical Society Series B-Applied Mathematics|
|Publication status||Published - 1 Oct 1997|
ASJC Scopus subject areas
- Applied Mathematics