Research Article

Embedded Optimal Control of Robot Manipulators with Passive Joints

Figure 9

This figure shows (in red) the control and state variables of the optimal solution obtained with the EOC approach for the swing-down maneuver for the Acrobot with brake. The corresponding sequence of configurations of the robot is represented in Figure 8. The same figure shows (in black) the optimal solution of the same boundary value problem obtained with a MMIOC approach.
(a)
(b)
(c)
(d)
(e)
(f)