Embedded Optimal Control of Robot Manipulators with Passive Joints

Figure 10

Sequence of configurations of the optimal solution for the swing-down maneuver for the Brakebot. The configurations in which the Brakebot operates in Mode 1, Mode 2, Mode 3, and Mode 4 are represented in green, blue, orange, and red, respectively. The corresponding control and state variables are represented in Figure 7.