Optimal Trajectory of Underwater Manipulator Using Adjoint Variable Method for Reducing Drag 外文参考文献.docVIP

Open Journal of Discrete Mathematics, 2011, 1, 139-152 doi:10.4236/ojdm.2011.13018 Published Online October 2011 (http://www.SciRP.org/journal/ojdm) Optimal Trajectory of Underwater Manipulator Using Adjoint Variable Method for Reducing Drag Kazunori Shinohara JAXA’S Engineering Digital Innovation Center, Japan Aerospace Exploration Agency, Sagamihara City, Japan E-mail: shinohara@06.alumni.u-tokyo.ac.jp Received June 28, 2011; revised July 30, 2011; accepted August 16, 2011 Abstract In order to decrease the fluid drag on an underwater robot manipulator, an optimal trajectory method based