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  • Optimisation Problem:: Subject To

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    Neeraj Gupta
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    The document describes an optimization problem to find the trajectory of an end effector by using the method of Lagrange multipliers. It forms a function F(θ) by combining the objective function and constraint functions, then takes the derivatives of F(θ) and sets them equal to zero. It eliminates the Lagrange multipliers by rewriting one of the equations, then equates the determinant of the resulting matrix to zero to obtain a third equation to solve along with the original constraint equations to find the optimal trajectory numerically.

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    optimization

    Original Title

    Optimisation Problem

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    The document describes an optimization problem to find the trajectory of an end effector by using the method of Lagrange multipliers. It forms a function F(θ) by combining the objective function and constraint functions, then takes the derivatives of F(θ) and sets them equal to zero. It eliminates the Lagrange multipliers by rewriting one of the equations, then equates the determinant of the resulting matrix to zero to obtain a third equation to solve along with the original constraint equations to find the optimal trajectory numerically.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    12 views5 pages

    Optimisation Problem:: Subject To

    Uploaded by

    Neeraj Gupta
    The document describes an optimization problem to find the trajectory of an end effector by using the method of Lagrange multipliers. It forms a function F(θ) by combining the objective function and constraint functions, then takes the derivatives of F(θ) and sets them equal to zero. It eliminates the Lagrange multipliers by rewriting one of the equations, then equates the determinant of the resulting matrix to zero to obtain a third equation to solve along with the original constraint equations to find the optimal trajectory numerically.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 5

    Optimisation problem:

    subject to:

    (x,y) denote trajectory of end-effector. Solve using classical method of Lagrange multipliers Form the function:

    Equate the derivatives of F( ) to zero

    Eliminate 1 and 2 by rewriting the first equation as

    For non-trivial 1 and 2 Equate determinant of the 33 matrix to zero to yield:

    Solve above equation together with g1() = 0 and g2() = 0 numerically.

    Example:

    Program to find third Equation:

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