Optimization problems of controlled multibody systems having spring-damper actuators

The optimal control of the motion of mechanical systems is studied. A characteristic feature of these systems is the presence of passive actuators (springs, dampers, etc.). Energy-optimal control laws and structural parameters of nonlinear springdamper actuators are determined analytically, which is necessary to impart arbitrary motion to a controllable mechanical system with n degrees of freedom. As an example, a numerical solution is presented for the problem of designing an energy-optimal spring actuator for a robot manipulator of closed kinematic structure