Control and optimization of semi-passively actuated multibody systems

The controlled multibody systems are under the consideration. At the lecture special emphasis is put on the study of underactuated and overactuated systems having different type of actuators (external powered drives, unpowered spring-damper like drives, etc.). Several questions are addressed about the role of inherent dynamics, and how much multibody system should be governed by external powered drives and how much by the systems inherent dynamics. The lecture consists of the following parts: introduction to the subject in question; mathematical statement of the optimal control problems that are suitable for modelling of controlled motion and optimization of semi-passively controlled multibody systems with different degrees of actuation; description of the methodology and the numerical algorithms for solution of control and optimization problems for semi-passively actuated multibody systems. The solutions of several optimal control problems for different kind of semi-passively actuated multibody systems are presented. Namely, the energy-optimal control of planar semi-passively controlled three-link manipulator robot, the energy-optimal control of closed-loop chain semi-passively actuated SCARA-like robot; optimization of the hydraulic and pneumatic drives of the multibody system modelled the human locomotor apparatus with above-knee prostheses, and others. Future perspectives in area of control and optimization problems of the semi-passively actuated multibody systems are discussed

Control and optimization of semi-passively actuated multibody systems

The controlled multibody systems are under consideration. Several questions are addressed about the role of inherent dynamics, and how much multibody system should be governed by external powered drives and how much by the system’s inherent dynamics. Mathematical statement of the optimal control problem that is suitable for modelling of controlled motion and optimization of semi-passively actuated multibody systems has been proposed. The methodology and numerical algorithms have been described for solving the control and optimization problems for semi-passively actuated multibody systems. Special emphasis is put on the study of controlled multibody systems having different degrees and types of actuation (underactuated and overactuated systems, external powered drives, unpowered spring-damper like drives, etc.). The solutions of energy-optimal control problems have been presented for different kinds of semi-passively actuated multibody systems (closed-loop chain semi-passively actuated robot, multibody system modelled the human locomotor apparatus with above-knee prosthesis and others)