On Energy-Optimal and Time-Optimal Precise Displacement of Rigid Body with Friction

Minimal time optimality and minimal energy optimality are usually considered as competing approaches for the trajectory planning for the precise movement of a rigid body. Theoretical and simulation results show that, with appropriate choice of constraints, these approaches are equivalent in the sense that they produce the same trajectory. This trajectory is globally optimal for both objectives. Constraints for velocity, driving force and jerk are taken into account. The model includes Coulomb and viscous friction. The optimal control solver was used as a numerical tool.

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