Date of download: 7/31/2017
Copyright © ASME. All rights reserved.
From: The Discrete Adjoint Gradient Computation for Optimization Problems in Multibody Dynamics
J. Comput. Nonlinear Dynam. 2016;12(3):031016-031016-10. doi:10.1115/1.4035197
Figure Legend:
Nonlinear two mass oscillator
Date of download: 7/31/2017
Copyright © ASME. All rights reserved.
From: The Discrete Adjoint Gradient Computation for Optimization Problems in Multibody Dynamics
J. Comput. Nonlinear Dynam. 2016;12(3):031016-031016-10. doi:10.1115/1.4035197
Figure Legend:
Interpolation of the Hessian
Date of download: 7/31/2017
Copyright © ASME. All rights reserved.
From: The Discrete Adjoint Gradient Computation for Optimization Problems in Multibody Dynamics
J. Comput. Nonlinear Dynam. 2016;12(3):031016-031016-10. doi:10.1115/1.4035197
Figure Legend:
PUMA industrial robot (a) the schematic of the PUMA robot and (b) the start and end configuration
Date of download: 7/31/2017
Copyright © ASME. All rights reserved.
From: The Discrete Adjoint Gradient Computation for Optimization Problems in Multibody Dynamics
J. Comput. Nonlinear Dynam. 2016;12(3):031016-031016-10. doi:10.1115/1.4035197
Figure Legend:
Planar overhead crane (a) schematic of the crane and (b) optimal input
Date of download: 7/31/2017
Copyright © ASME. All rights reserved.
From: The Discrete Adjoint Gradient Computation for Optimization Problems in Multibody Dynamics
J. Comput. Nonlinear Dynam. 2016;12(3):031016-031016-10. doi:10.1115/1.4035197
Figure Legend:
Convergence of the two optimization problems (a) convergence of version 1 and (b) convergence of version 2
Date of download: 7/31/2017
Copyright © ASME. All rights reserved.
From: The Discrete Adjoint Gradient Computation for Optimization Problems in Multibody Dynamics
J. Comput. Nonlinear Dynam. 2016;12(3):031016-031016-10. doi:10.1115/1.4035197
Figure Legend:
Solution of the nonlinear two mass oscillator (a) optimal input and (b) convergence of cost functional
Date of download: 7/31/2017
Copyright © ASME. All rights reserved.
From: The Discrete Adjoint Gradient Computation for Optimization Problems in Multibody Dynamics
J. Comput. Nonlinear Dynam. 2016;12(3):031016-031016-10. doi:10.1115/1.4035197
Figure Legend:
Solution of the robot example (a) convergence of the cost functional of the PUMA and (b) optimal joint torques of the PUMA