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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Bjorkenstam, S. Carlson, J.S. Lennartson, B. |
| Copyright Year | 2015 |
| Description | Author affiliation: Dept. of Signals & Syst., Chalmers Univ. of Technol., Göteborg, Sweden (Lennartson, B.) || Geometry & Motion Planning, Fraunhofer-Chalmers Centre, Göteborg, Sweden (Bjorkenstam, S.; Carlson, J.S.) |
| Abstract | The discrete equations of motion derived using a variational principle are particularly attractive to be used in numerical optimal control methods. This is mainly because: i) they exhibit excellent energy behavior, ii) they extend gracefully to systems with holonomic constraints and iii) they admit compact representation of the discrete state space. In this paper we propose the use of sparse finite differencing techniques for the Discrete Mechanics and Optimal Control method. In particular we show how to efficiently construct estimates of the Jacobian and Hessian matrices when the dynamics of the optimal control problem is discretized using a variational integrator. To demonstrate the effectiveness of this scheme we solve a human motion planning problem of an industrial assembly task, modeled as a multibody system consisting of more than one hundred degrees of freedom. |
| Starting Page | 769 |
| Ending Page | 774 |
| File Size | 979354 |
| Page Count | 6 |
| File Format | |
| e-ISBN | 9781467381833 |
| DOI | 10.1109/CoASE.2015.7294174 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-08-24 |
| Publisher Place | Sweden |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Optimal control Jacobian matrices Mathematical model Approximation methods Sparse matrices Dynamics Joints |
| Content Type | Text |
| Resource Type | Article |
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