关键词: yoyo运动, 最优控制, 实时轨迹生成

Abstract: Based on Nonlinear Trajectory Generation（NTG） software package，a general approach （i.e.numerical solution） to real-time optimization trajectory generation for robotic yoyo motion is presented，which may also be applied to other similar periodic dynamic systems for trajectory planning.For the real-time optimization control of this class of systems，a critical problem is how to implement fast solving the optimal trajectory，so as to meet the real-time demand.However，traditional numerical solution methods are very time-consuming.In this paper，the optimization problem is solved by being mapped to a lower-dimension space，which combined with using multithread programming technology greatly reduces the computation time.Simulation results show that the numerical solution is identical to the analytic one，which demonstrates the correctness of the proposed method.The computation time of one cycle of yoyo simulation is about 10 ms，which shows that the proposed numerical method can be applied to real-time control.

Key words: yoyo motion, optimal control, real-time trajectory generation