Energy-Optimal Trajectory Planning for Planar Underactuated RR Robot Manipulators in the Absence of Gravity
Figure 7
Control and state variables of the optimal solution of problem 3, an initial value problem for an underactuated planar robot manipulator with boundary conditions , , , , Nm, , , , and . The initial and final times are and , respectively. The corresponding sequence of configurations of the robot manipulator at times with is represented in Figure 6.
