Proposal of trajectory generation for redundant manipulators without inverse matrix calculation and application to consumed electrical energy minimization

摘要

A method to solve the trajectory generation problem in redundant degree of freedom manipula- tors has been proposed, in which the variational approach is introduced for minimization of the consumed electrical energy of a robot manipulator system. The application of the proposed method is oriented to repeated jobs realized by industrial robots manipulators. Through simulations and experiments, the energy minimization of the proposed method is verified.