We investigate the optimality of the configurations of a tentacle-like soft manipulator ensuring the contact with a target object, while avoiding an obstacle. The main novelty consists in treating the contact sub-region of the manipulator as an unknown of the problem and, at the same time, in allowing the target to be disconnected. We set the optimization problem in full generality, then we focus on the case of a multi-target problem, in which the goal is to simultaneously reach a finite set of points. Numerical simulations complete the paper.
Multi-target optimal control problems for a tentacle-like soft manipulator / Cacace, S.; Lai, A. C.; Loreti, P.. - (2021), pp. 39-48. (Intervento presentato al convegno 18th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2021 tenutosi a Virtual, Online; France;) [10.5220/0010533400390048].
Multi-target optimal control problems for a tentacle-like soft manipulator
Cacace S.;Lai A. C.
;Loreti P.
2021
Abstract
We investigate the optimality of the configurations of a tentacle-like soft manipulator ensuring the contact with a target object, while avoiding an obstacle. The main novelty consists in treating the contact sub-region of the manipulator as an unknown of the problem and, at the same time, in allowing the target to be disconnected. We set the optimization problem in full generality, then we focus on the case of a multi-target problem, in which the goal is to simultaneously reach a finite set of points. Numerical simulations complete the paper.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
