Methods for Direct Optimal Control of Multibody Systems
Licentiate thesis, 2016
discrete mechanics
robotics
Optimal control
motion planning
multibody dynamics
digital human modeling
Author
Staffan C Björkenstam
Chalmers, Signals and Systems, Systems and control
Exploiting sparsity in the discrete mechanics and optimal control method with application to human motion planning
11th IEEE International Conference on Automation Science and Engineering, CASE 2015, Gothenburg, Sweden, 24-28 August 2015,;(2015)p. 769-774
Paper in proceeding
Energy Efficient and Collision Free Motion of Industrial Robots using Optimal Control
Proc. 9th IEEE International Conference on Automation Science and Engineering (CASE 2013), Madison Wisconsin, August,;(2013)
Paper in proceeding
Björkenstam, S, Leyendecker, S , Carlson J. S, Lennartson, B. Inverse Dynamics for Discrete Mechanics of Multibody Systems with Application to Direct Optimal Control
Subject Categories
Computational Mathematics
Robotics
Control Engineering
Publisher
Chalmers
EL43, Hörsalsvägen 11, Göteborg
Opponent: Professor Mikael Norrlöf, Department of Electrical Engineering, Linköping University