Impulsive time-optimal control of underactuated manipulators with impactively blockable degrees of freedom

In this work, the necessary conditions for the impulsive optimal control of robotic manipulators with impactively blockable DOF is given. The necessary conditions are derived by applying subdifferential calculus to lower semi-continuous functions. Pontryagin's Maximum Principle (PMP) like necessary conditions are obtained for the optimal control problem with impactive transitions. An application and numerical results for a two-degree-of-freedom (DOF) planar manipulator is presented.