Embedded Optimal Control of Robot Manipulators with Passive Joints

Figure 1

A planarrobot manipulator that moves in a vertical plane. In the Pendubot model Joint 2 is not actuated whereas in the Acrobot model Joint 1 is not actuated. Both underactuated planarrobot manipulator models are supposed to be equipped with brakes at the unactuated joints. In the Brakebot model both joints are not actuated and equipped with brakes.