Embedded Optimal Control of Robot Manipulators with Passive Joints

Figure 12

This figure shows (in red) the control and state variables of the optimal solution obtained with the EOC approach for the swing-down maneuver for the Brakebot. The corresponding sequence of configurations of the robot manipulator is represented in Figure 10. The same figure shows (in black) the optimal solution of the same problem obtained with a MMIOC approach.

(a)

(b)

(c)

(d)