Salvato in:
| Autori principali: | , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2512.11250 |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866915671028269056 |
|---|---|
| author | Marcinczyk, Brock Beaver, Logan E. |
| author_facet | Marcinczyk, Brock Beaver, Logan E. |
| contents | This work develops a control-centric framework for a custom 4-DOF rigid-body manipulator by coupling a reduced-order Pontryagin's Maximum Principle (PMP) controller with a physics-informed Gradient Descent stage. The reduced PMP model provides a closed-form optimal control law for the joint accelerations, while the Gradient Descent module determines the corresponding time horizons by minimizing a cost functional built directly from the full Rigid-Body Dynamics. Structural-mechanics reaction analysis is used only to initialize feasible joint velocities-most critically the azimuthal component-ensuring that the optimizer begins in a physically admissible region. The resulting kinematic trajectories and dynamically consistent time horizons are then supplied to the symbolic Euler-Lagrange model to yield closed-form inverse-dynamics inputs. This pipeline preserves a strict control-theoretic structure while embedding the physical constraints and loading behavior of the manipulator in a computationally efficient way. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_11250 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Optimal Control and Structurally-Informed Gradient Optimization of a Custom 4-DOF Rigid-Body Manipulator Marcinczyk, Brock Beaver, Logan E. Robotics This work develops a control-centric framework for a custom 4-DOF rigid-body manipulator by coupling a reduced-order Pontryagin's Maximum Principle (PMP) controller with a physics-informed Gradient Descent stage. The reduced PMP model provides a closed-form optimal control law for the joint accelerations, while the Gradient Descent module determines the corresponding time horizons by minimizing a cost functional built directly from the full Rigid-Body Dynamics. Structural-mechanics reaction analysis is used only to initialize feasible joint velocities-most critically the azimuthal component-ensuring that the optimizer begins in a physically admissible region. The resulting kinematic trajectories and dynamically consistent time horizons are then supplied to the symbolic Euler-Lagrange model to yield closed-form inverse-dynamics inputs. This pipeline preserves a strict control-theoretic structure while embedding the physical constraints and loading behavior of the manipulator in a computationally efficient way. |
| title | Optimal Control and Structurally-Informed Gradient Optimization of a Custom 4-DOF Rigid-Body Manipulator |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.11250 |