Optimal Control for a Pitcher's Motion Modeled as Constrained Mechanical System
- Creators
- Ober-Blöbaum, Sina
- Timmermann, Julia
Abstract
In this contribution, a recently developed optimal control method for constrained mechanical systems is applied to determine optimal motions and muscle force evolutions for a pitcher's arm. The method is based on a discrete constrained version of the Lagrange-d'Alembert principle leading to structure preserving time-stepping equations. A reduction technique is used to derive the nonlinear equality constraints for the minimization of a given objective function. Different multi-body models for the pitcher's arm are investigated and compared with respect to the motion itself, the control effort, the pitch velocity, and the pitch duration time. In particular, the use of a muscle model allows for an identification of limits on the maximal forces that ensure more realistic optimal pitch motions.
Additional Information
© 2009 ASME. Thanks go to Helmut Böhmer and Sigrid Leyendecker for helpful discussions. This research was partly supported by the AFOSR grant FA9550-08-1-0 173.Attached Files
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Additional details
- Eprint ID
- 23933
- Resolver ID
- CaltechAUTHORS:20110607-113702569
- FA9550-08-1-0 173
- Air Force Office of Scientific Research (AFOSR)
- Created
-
2011-06-08Created from EPrint's datestamp field
- Updated
-
2021-11-09Created from EPrint's last_modified field
- Other Numbering System Name
- Paper Number
- Other Numbering System Identifier
- DETC2009-87081