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Trajectory Planning for Closed Kinematic Chains Applied to Cooperative Motions in Health Care
Author(s) -
Knoll Carsten,
Jia Xuehua,
Heedt Robert
Publication year - 2021
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.202000324
Subject(s) - kinematics , discretization , trajectory , kinematic chain , perspective (graphical) , computer science , optimal control , motion (physics) , rigid body , mathematical optimization , mechanism (biology) , control (management) , control theory (sociology) , planar , algebraic number , mathematics , classical mechanics , artificial intelligence , mathematical analysis , physics , computer graphics (images) , quantum mechanics , astronomy
Physical interaction of humans can be a challenging. For some practically relevant situations a reasonable model is given by a closed kinematic chain of a planar rigid body mechanism. From a control perspective a cooperative motion, e. g. assisted standing‐up, can be seen as an optimal control problem (OCP) with input and state restrictions. Due to the algebraic constraints and the comparably high number of joints involved, proper formulation of such a problem is not trivial. In this contribution we compare two different modeling approaches: discretization of the full dynamical problem and iterative solution of consecutive stationary problems. The latter turns out to be significantly faster while still providing – in some sense – optimal solutions.