Optimal control applied to flat outputs allows planning motion laws for underactuated robots that minimize potential energy in passive joints, yielding trajectories robust to stiffness and damping mismatches and thus reducing oscillations.
Optimal controller and controller b ased on dif- ferential flatness in a linear guide system: A performance co mparison of indexes
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Optimal control of differentially flat underactuated planar robots in the perspective of oscillation mitigation
Optimal control applied to flat outputs allows planning motion laws for underactuated robots that minimize potential energy in passive joints, yielding trajectories robust to stiffness and damping mismatches and thus reducing oscillations.