Control and optimization of semi-passively actuated multibody systems

Journal article, 2003

The controlled multibody systems are under consideration. Several questions are addressed about the role of inherent dynamics, and how much multibody system should be governed by external powered drives and how much by the system’s inherent dynamics. Mathematical statement of the optimal control problem that is suitable for modelling of controlled motion and optimization of semi-passively actuated multibody systems has been proposed. The methodology and numerical algorithms have been described for solving the control and optimization problems for semi-passively actuated multibody systems. Special emphasis is put on the study of controlled multibody systems having different degrees and types of actuation (underactuated and overactuated systems, external powered drives, unpowered spring-damper like drives, etc.). The solutions of energy-optimal control problems have been presented for different kinds of semi-passively actuated multibody systems (closed-loop chain semi-passively actuated robot, multibody system modelled the human locomotor apparatus with above-knee prosthesis and others).