Development of General Purpose Algorithm and Software for Optimal Control of Flexible Multibody Systems

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In this investigation, a general purpose optimal control algorithm (optimal trajectory planning algorithm) for flexible multibody systems that consist of interconnected elastic bodies, such as flexible link manipulators and flexible space structures, is developed. The proposed algorithm is built by combining the newly developed recursive dynamics algorithms, sensitivity analysis algorithm, and previously developed robust optimal control algorithm called a hierarchical gradient method. The proposed algorithm is verified through both numerical simulation and experiment of a flexible link manipulator. Furthermore, general purpose software is developed based on the proposed optimal control algorithm.