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On the Solution of Inverse Dynamics and Trajectory Optimization Problems for Multibody Systems

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Abstract

We study the solution of inverse multibody dynamics problems, hereintended as optimal control problems for dynamical systems governed bydifferential-algebraic equations. The optimal control problem caninvolve control and state equality and inequality constraints andgeneral objective functions. We analyze various possible alternativestrategies for the solution of such problems, with the specific goal ofidentifying procedures that possess the characteristics of generality,robustness and practical applicability in general purpose industriallevel multibody software. Within these constraints, we propose aformulation based on a variant of the direct transcription method and wetest it with the help of representative example problems.

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Authors and Affiliations

  1. Politecnico di Milano, Dipartimento di Ingegneria Aerospaziale, Campus Bovisa, Via La Masa 34, I-20158, Milano, Italy

    Carlo L. Bottasso & Alessandro Croce

  2. ABB, Corporate Research Center ITCRC, Viale Edison 50, Sesto San Giovanni, I-20099, Milano, Italy

    Luca Ghezzi & Paolo Faure

Authors
  1. Carlo L. Bottasso
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  2. Alessandro Croce
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  3. Luca Ghezzi
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  4. Paolo Faure
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Bottasso, C.L., Croce, A., Ghezzi, L. et al. On the Solution of Inverse Dynamics and Trajectory Optimization Problems for Multibody Systems. Multibody System Dynamics 11, 1–22 (2004). https://doi.org/10.1023/B:MUBO.0000014875.66058.74

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  • DOI: https://doi.org/10.1023/B:MUBO.0000014875.66058.74

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