Trajectory Planning of Redundant Manipulators with Consumed Energy Minimization by Variational Approach
Trajectory Planning of Redundant Manipulators with Consumed Energy Minimization by Variational Approach
复制标题
变分法能耗最小化冗余机械臂轨迹规划
DOI：
10.1541/ieejias.117.724
复制
发表时间：
1997
影响因子：
--
通讯作者：
A. Kawamura
中科院分区：
文献类型：
--
作者：
A. Hirakawa;A. Kawamura
提出了一种解决冗余自由度机械臂轨迹生成问题的方法，该方法引入了变分法和B样条曲线，使机械臂系统的电能消耗最小。该方法不需要雅可比矩阵求逆，在保证最小轨迹误差的同时，使电能消耗最小。本文介绍了理论、仿真和实验。
A method to solve the trajectory generation problem in redundant degree of freedom manipulators has been proposed, in which the variational approach and the B-Spline curve are introduced for minimization of the consumed electrical energy of a robot manipulator system. In the proposed method, the inverse matrix of Jacobian calculation is not required, and the minimal trajectory error is guaranteed while minimizing the consumed electrical energy. The theory, simulation, and experiments are presented in this paper.