Riemannian formulation of Pontrygin's principle for robotic manipulators - Laboratoire de Mathématiques d'Orsay Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

Riemannian formulation of Pontrygin's principle for robotic manipulators

Résumé

In this work, we consider a mechanical system whose mass tensor implements a scalar product in a Riemannian manifold. This system is controlled with the help of forces and torques. A cost functional is minimized to achieve an optimal trajectory. In this contribution, this cost function is supposed to be an arbitrary regular function invariant under a change of coordinates. Optimal control evolution based on Pontryagin's principle induces a covariant second-order ordinary differential equation for an adjoint variable featuring the Riemann curvature tensor. This second order time evolution is derived in this contribution.
Fichier principal
Vignette du fichier
Dubois-Rojas-Jaca2022-18avril2023.pdf (165.54 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04074717 , version 1 (19-04-2023)

Identifiants

Citer

François Dubois, Hedy César Ramírez-De-Ávila, Juan Antonio Rojas-Quintero. Riemannian formulation of Pontrygin's principle for robotic manipulators. Sixteenth International Conference Zaragoza-Pau on Mathematics and its Applications, Universités de Pau et de Zaragoza, Sep 2022, Jaca, Spain. ⟨hal-04074717⟩
29 Consultations
7 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More