A Caltech Library Service

Optimal Control for a Pitcher's Motion Modeled as Constrained Mechanical System

Ober-Blöbaum, Sina and Timmermann, Julia (2010) Optimal Control for a Pitcher's Motion Modeled as Constrained Mechanical System. In: ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Vol.4. American Society of Mechanical Engineers , pp. 597-606. ISBN 978-0-7918-4901-9.

PDF - Published Version
See Usage Policy.


Use this Persistent URL to link to this item:


In this contribution, a recently developed optimal control method for constrained mechanical systems is applied to determine optimal motions and muscle force evolutions for a pitcher's arm. The method is based on a discrete constrained version of the Lagrange-d'Alembert principle leading to structure preserving time-stepping equations. A reduction technique is used to derive the nonlinear equality constraints for the minimization of a given objective function. Different multi-body models for the pitcher's arm are investigated and compared with respect to the motion itself, the control effort, the pitch velocity, and the pitch duration time. In particular, the use of a muscle model allows for an identification of limits on the maximal forces that ensure more realistic optimal pitch motions.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Additional Information:© 2009 ASME. Thanks go to Helmut Böhmer and Sigrid Leyendecker for helpful discussions. This research was partly supported by the AFOSR grant FA9550-08-1-0 173.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-08-1-0 173
Other Numbering System:
Other Numbering System NameOther Numbering System ID
Paper NumberDETC2009-87081
Record Number:CaltechAUTHORS:20110607-113702569
Persistent URL:
Official Citation:Optimal Control for a Pitcher's Motion Modeled as Constrained Mechanical System Sina Ober-Blobaum and Julia Timmermann, ASME Conf. Proc. 2009, 597 (2009), DOI:10.1115/DETC2009-87081
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:23933
Deposited By: Jason Perez
Deposited On:08 Jun 2011 14:22
Last Modified:03 Oct 2019 02:51

Repository Staff Only: item control page