Embedded Optimal Control of Robot Manipulators with Passive Joints

Table 5

Results for the swing-down maneuver for the Brakebot.

Method	Minimum time [s]	Resolution time [s]	Sequence of modes	Switching times [s]
EOC	4.25354	9.29855	(1, 4, 2, 4, 2, 1, 3, 2, 3, 1, 3, 1, 2, 4, 2, 3, 4, 3, 1)	,
				,
				,
				,
				,
				,
				,
				,
				,
MMIOC	5.00115	1270.4665	(1, 4, 1, 3, 4)