Finding minimum-energy control strategies for point-to-pointoperation of a robotic manipulator is algorithmically difficult andcomputationally very intensive, even when the dynamic equations andparameters of the manipulator are precisely known. As a result, thepractical applicability of available methods is very limited. In thisresearch, real-time algorithms to generate quasi-minimum energypoint-to-point control of robotic manipulators were presented, by apoint of view of the gravity center motion. While not producing exactminimum-energy solutions, the algorithms can be easily used on-line toapproximate minimum-energy control. The program running on a typical PCcomputer (Gateway 2000 4DX2-66 V) only takes about 0.27 seconds, thusthe approaches are possible for real-time control. Numerical experimentswere also executed to show the effectiveness of the proposed techniques,comparing with the traditional triangular type trajectory control
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