On the Solution of Inverse Dynamics and Trajectory Optimization Problems for Multibody Systems

We study the solution of inverse multibody dynamics problems, here intended as optimal control problems for dynamical systems governed by differential-algebraic equations. The optimal control problem can involve control and state equality and inequality constraints and general objective functions. We analyze various possible alternative strategies for the solution of such problems, with the specific goal of identifying procedures that possess the characteristics of generality, robustness and practical applicability in general purpose industrial level multibody software. Within these constraints, we propose a formulation based on a variant of the direct transcription method and we test it with the help of representative example problems.