Embedded Optimal Control of Robot Manipulators with Passive Joints

Figure 3

This figure shows (in red) the control and state variables of the optimal solution obtained with the EOC approach for the swing-up maneuver of the Pendubot with brake. The corresponding sequence of configurations of the robot manipulator is represented in Figure 2. The same figure shows (in black) the optimal solution of the same boundary value problem obtained with a MMIOC approach. The dashed vertical lines represent switches between phases.

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