# Time-energy optimal control of articulated systems with geometric path constraints

@article{Shiller1994TimeenergyOC, title={Time-energy optimal control of articulated systems with geometric path constraints}, author={Zvi Shiller}, journal={Proceedings of the 1994 IEEE International Conference on Robotics and Automation}, year={1994}, pages={2680-2685 vol.4} }

A method is presented for optimizing the motions of articulated systems along specified paths, minimizing a time-energy cost function. Using a transformation to path variables, the optimization problem is formulated in a reduced two dimensional state space. The necessary conditions for optimality, stated for the reduced problem, lead to a compact two point boundary value problem that requires the iterations of only one boundary condition. The optimal control obtained for this problem is smooth…

## 156 Citations

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