Abstract
This contribution presents the optimal control of a musculoskeletal multibody model with Hill muscle actuation and dynamic muscle paths. In particular, the motion of a human arm and its muscle paths is described via constrained variational dynamics. The optimal control problem in this work is based on the direct transcription method DMOCCÂ [4], where the optimal control problem is discretised in time, and the resulting nonlinear constrained finite dimensional optimisation problem is solved. To take a step towards finding global or multiple minima, we utilize the Matlab multistart framework for global optimisation. With the help of an example, we outline a framework to find feasible solutions and analyse several minima to which the nonlinear programming solver converges.
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This work is funded by the Federal Ministry of Education and Research (BMBF) as part of the project 05M16WEB - DYMARA.
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Penner, J., Leyendecker, S. (2020). A Hill Muscle Actuated Arm Model with Dynamic Muscle Paths. In: Kecskeméthy, A., Geu Flores, F. (eds) Multibody Dynamics 2019. ECCOMAS 2019. Computational Methods in Applied Sciences, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-030-23132-3_7
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DOI: https://doi.org/10.1007/978-3-030-23132-3_7
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