Year: 1998
Type: article
Abstract: This paper presents two kinds of motion control methods for a free-flying multi-link system with nonzero angular momentum. The first one deals with the optimization of both joint trajectory and initial angular momentum. The second one is based on the optimization of the velocity of the traveling function along a given joint path. Throughout these optimizations, not only are initial and final conditions satisfied, but also midway behavior is controlled. Numerical simulations have been executed compared to twist somersault performance of gymnast, and the results show the validity of these methods.
DOI: 10.7210/jrsj.16.223
Authors: Masayuki Kamon, Kazuo Yoshida
Institutions: Kawasaki Heavy Industries (Japan), Keio University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W2320085404