The aim of this report is to propose a unified framework for the determination of non-smooth trajectories for robotic manipulators with blockable DOF along with a computational scheme. The benefits to represent the dynamics as a measure-differential inclusion will be presented. The optimal control problem will be transcribed into a Nonlinear Programming Problem (NLP) and transformed from the infinite dimensional representation into a finite dimensional representation. The relation to mathematical programs with equilibrium constraints (MPEC) will be established. A numerical scheme will be proposed for the determination of the state and costate trajectories, which can bear discontinuities.
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Yunt, K., Glocker, C. (2007). A Combined Continuation and Penalty Method for the Determination of Optimal Hybrid Mechanical Trajectories. In: Hu, H.Y., Kreuzer, E. (eds) Iutam Symposium on Dynamics and Control of Nonlinear Systems with Uncertainty. IUTAM Book Series, vol 2. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-6332-9_19
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DOI: https://doi.org/10.1007/978-1-4020-6332-9_19
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-6331-2
Online ISBN: 978-1-4020-6332-9
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