On the Optimal Control of the Rigid Body Precise Movement: Is Energy Optimality the Same As Time Optimality?

Abstract

Optimal control problems of rigid body precise movement minimal time optimality and minimal energy optimality are considered as competing approaches for trajectory planning. We investigate here theoretical and simulation results showing that, with appropriate choice of constraints, these approaches are equivalent in the sense that they produce the same trajectory. The optimal control solver DIDO was used as a numerical tool.