Optimization of Semi-Passively Actuated Mechatronic Systems

Other conference contribution, 2003

A mechatronic system as a general controlled multibody system is under the consideration. In the paper special emphasizes are put on the study of underactuated and overactuated systems having different type of actuators (external powered drives, unpowered spring-damper like drives, etc.). The mathematical statement of the optimal control problem is proposed that is suitable for modeling of controlled motion and optimization of mechatronic systems with different type and degree of actuation. The methodology and the numerical algorithm for solving of control and optimization problem for the semi-passively actuated mechatronic systems are presented. Solutions of several optimal control problems for semi-passively actuated mechatronic systems are demonstrated, (the energy-optimal control of closed-loop chain semi-passively actuated SCARA-like robot and the problem of optimization of the hydraulic and pneumatic drives of the multibody system modeled the human locomotor apparatus with above-knee prosthesis).