Optimization Method for Vertical Jump of Planar Robots Driven by Motors

A vertical jump optimization problem is addressed for planar robots driven by motors whose armature voltages are limited. A dynamic model is established which adds the motor model to the entire robot model. This problem is formulated as an optimal control problem with a free end and constraint control input which can be solved by an existing software. By solving the optimal control problem, it is found that the optimal control curve is a straight line with a maximum value of voltage. Hence, the vertical jump optimization problem can be transformed into another problem of solving the optimal take-off angle. A method is proposed to obtain the optimal take-off angle. This proposed method is verified by simulations.

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