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On Energy-Optimal and Time-Optimal Precise Displacement of Rigid Body with Friction

Author

Listed:
  • Ilya Ioslovich

    (Technion–Israel Institute of Technology)

  • Per-Olof Gutman

    (Technion–Israel Institute of Technology)

  • Ari Berger

    (Technion–Israel Institute of Technology)

  • Shai Moshenberg

    (Technion–Israel Institute of Technology)

Abstract

Minimal time optimality and minimal energy optimality are usually considered as competing approaches for the trajectory planning for the precise movement of a rigid body. Theoretical and simulation results show that, with appropriate choice of constraints, these approaches are equivalent in the sense that they produce the same trajectory. This trajectory is globally optimal for both objectives. Constraints for velocity, driving force and jerk are taken into account. The model includes Coulomb and viscous friction. The optimal control solver was used as a numerical tool.

Suggested Citation

  • Ilya Ioslovich & Per-Olof Gutman & Ari Berger & Shai Moshenberg, 2017. "On Energy-Optimal and Time-Optimal Precise Displacement of Rigid Body with Friction," Journal of Optimization Theory and Applications, Springer, vol. 172(2), pages 466-480, February.
    • Handle: RePEc:spr:joptap:v:172:y:2017:i:2:d:10.1007_s10957-016-0913-2
    DOI: 10.1007/s10957-016-0913-2
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    Cited by:

    1. Ayal Taitler & Ilya Ioslovich & Erez Karpas & Per-Olof Gutman, 2022. "Minimum Mixed Time–Energy Trajectory Planning of a Nonlinear Vehicle Subject to 2D Disturbances," Journal of Optimization Theory and Applications, Springer, vol. 192(2), pages 725-757, February.

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