Embedded Optimal Control of Robot Manipulators with Passive Joints

Figure 11

This figure shows in different colors, namely, Mode 1 in green, Mode 2 in blue, Mode 3 in orange, and Mode 4 in red, the operating modes of the optimal solution obtained with the EOC approach for the swing-down maneuver for the Brakebot. The corresponding sequence of configurations of the robot manipulator is represented in Figure 10. The same figure shows (in black) the operating modes of the optimal solution obtained with a MMIOC approach.

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