Embedded Optimal Control of Robot Manipulators with Passive Joints

Table 1

Results for the swing-up maneuver for the Pendubot with brake: [s].

Method	Minimum energy [J]	Resolution time [s]	Sequence of modes	Switching times [s]
EOC	192.71	2.84221	(0, 1, 0, 1, 0, 1)
				MMIOC	195.532	26.984307	(0, 1, 0, 1)