柔性机械臂的最优可达性与抓取
Optimal reachability and grasping for a soft manipulator
摘要：
我们调查的最佳可达性和把握问题的平面软机械手，从理论和数值的角度来看。底层的控制模型描述了该设备的对称轴的演变，这是受不可扩展性和曲率约束，弯矩和曲率控制。最优控制策略的特征在于工具来自于偏微分方程的最优控制理论。为了验证模型和综合最优控制策略，我们进行了一些数值试验。
英文摘要：
We investigate optimal reachability and grasping problems for a planar soft manipulator, from both a theoretical and numerical point of view. The underlying control model describes the evolution of the symmetry axis of the device, which is subject to inextensibility and curvature constraints, a bending moment and a curvature control. Optimal control strategies are characterized with tools coming from the optimal control theory of PDEs. We run some numerical tests in order to validate the model and to synthetize optimal control strategies.
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