Embedded Optimal Control of Robot Manipulators with Passive Joints

Table 2

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

Method	Minimum energy [J]	Resolution time [s]	Sequence of modes	Switching times [s]
EOC	21.5397	1.57952	(0, 1, 0, 1, 0, 1)
				MMIOC	21.5739	28.65894	(0, 1, 0, 1, 0, 1)