Control and Parameter Optimization of the Two-Link Manipulator with both Active and Semi-Passive Actuators
Paper in proceeding, 2003

Optimal control problem of the plane double-link manipulation system with both active and semi-passive (spring-dampher) actuators was considered. The approach based on converting the optimal control problem into the nonlinear conditional minimization problem was proposed. The results obtained using different performance indexes were compared. The effectiveness of the proposed algorithm was illustrated by the solution of the energy-optimal control problem for the double-link manipulator on the cyclic working tasks.


Viktor Berbyuk

Chalmers, Department of Machine and Vehicle Systems, Mechanical Systems

Myroslav Demydyuk

National Academy of Sciences in Ukraine

Maria Shyrko

National Academy of Sciences in Ukraine

Proceedings of the VI International Conference “Mathematical Problems of Mechanics of Non-homogeneous Structures”, (Ed. H.S. Kit), May 26-29, 2003, Lviv, Ukraine, National Academy of Sciences of Ukraine, 2003,


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