Abstract
In this contribution, we study systems with a finite number of degrees of freedom as in robotics. A key idea is to consider the mass tensor associated to the kinetic energy as a metric in a Riemannian configuration space. We apply Pontryagin’s framework to derive an optimal evolution of the control forces and torques applied to the mechanical system. This equation under covariant form uses explicitly the Riemann curvature tensor.
This contribution is dedicated to the memory of Claude Vallée.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Lazrak, M., Vallée, C.: Commande de robots en temps minimal. Revue d’Automatique et de Productique Appliquées (RAPA) 8(2–3), 217–222 (1995)
Lovelock, D., Rund, H.: Tensors, Differential Forms and Variational Principles. Wiley, New York (1975)
Pontryagin, L.S., Boltyanskii, V.G., Gamkrelidze, R.V., Mishchenko, E.F.: The Mathematical Theory of Optimal Processes (english translation). Interscience. Wiley, New York (1962)
Rojas Quintero, J.A.: Contribution à la manipulation dextre dynamique pour les aspects conceptuels et de commande en ligne optimale. Thesis Poitiers University, 31 October 2013
Rojas Quintero, J.A., Vallée, C., Gazeau, J.P., Seguin, P., Arsicault, M.: An alternative to Pontryagin’s principle for the optimal control of jointed arm robots. Congrès Français de Mécanique, Bordeaux, 26–30 August 2013
Siebert, R.: Mechanical integrators for the optimal control in multibody dynamics. Dissertation, Department Maschinenbau, Universität Siegen (2012)
Vallée, C.,. Rojas Quintero, J.A, Fortuné, D., Gazeau, J.P.: Covariant formulation of optimal control of jointed arm robots: an alternative to Pontryagin’s principle. arXiv:1305.6517, 28 May 2013
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Dubois, F., Fortuné, D., Rojas Quintero, J.A., Vallée, C. (2015). Pontryagin Calculus in Riemannian Geometry. In: Nielsen, F., Barbaresco, F. (eds) Geometric Science of Information. GSI 2015. Lecture Notes in Computer Science(), vol 9389. Springer, Cham. https://doi.org/10.1007/978-3-319-25040-3_58
Download citation
DOI: https://doi.org/10.1007/978-3-319-25040-3_58
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-25039-7
Online ISBN: 978-3-319-25040-3
eBook Packages: Computer ScienceComputer Science (R0)