---
# System prepended metadata

title: 'Lecture 10 : Trajectory Optimization'
tags: [Underactuated Robotics, Optimal Controls, MIT 6.832]

---

# Lecture 10 : Trajectory Optimization

###### tags: `MIT 6.832` `Underactuated Robotics` `Optimal Controls`

These are my paper notes of Lecture %% of the course MIT 6.832 (Underactuated Robotics) of 2019

**Youtube Channel :** [6.832 Underactuated Robotics](https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg/)
**Textbook :** [website](http://underactuated.csail.mit.edu/)
**Lecture :** [video](https://youtu.be/uO9EP6FyeAE)

# Table of Contents

[TOC]

## Topics covered 
* Trajectory Optimization
    * Reason for doing Trajectory Optimization
    * Basic Trajectory Optimization 
* Discrete Time Case : Linear Systems
    * Direct Transcription
    * Direct Shooting
    * Convertion to Continous Time
* Discrete Time Case : Non-Linear Systems
    * Direct Transcription
    * Direct Shooting
    * Direct Collocation
* Trajectory Motion Planning 

## Notes

![](https://i.imgur.com/3z6glrq.jpg)
![](https://i.imgur.com/TH6wFU3.jpg)
![](https://i.imgur.com/6OxiaGV.jpg)
![](https://i.imgur.com/zJ7PSZ0.jpg)
![](https://i.imgur.com/84HNBLH.jpg)
![](https://i.imgur.com/LiINWRr.jpg)
![](https://i.imgur.com/HHpTcdz.jpg)
![](https://i.imgur.com/p2Xxoj9.jpg)
