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9  Acrobot

Russ Tedrake. Underactuated Robotics: Learning, Planning, and Control for Efficient and Agile Machines. Working Draft of Course Notes for MIT 6.832 (Chapter 3).

9.1  Problem Formulation

The animation can be found here:

http://tomdyn.com/examples/acrobot.avi

Problem type appears to be: qpcon
Starting numeric solver
===== * * * =================================================================== * * *
TOMLAB - Tomlab Optimization Inc. Development license  999001. Valid to 2011-02-05
=====================================================================================
Problem: ---  1: Acrobot                        f_k      15.819743676706992000
                                       sum(|constr|)      0.000005838568196298
                              f(x_k) + sum(|constr|)     15.819749515275188000
                                              f(x_0)      0.000000000000000000

Solver: snopt.  EXIT=0.  INFORM=1.
SNOPT 7.2-5 NLP code
Optimality conditions satisfied

FuncEv    1 ConstrEv  303 ConJacEv  303 Iter  159 MinorIter 1149
CPU time: 14.656250 sec. Elapsed time: 15.360000 sec.

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