System for generating optimal trajectory of robot manipulator that minimized the joint torque variation and method therefor

摘要

invention differential dynamic programming (differential dynamic programming) to use the robot manipulator (manipulator) of the joint to a system and method for generating an optimal trajectory to minimize the torque variation. In the present invention, the robot manipulator joint trajectory generation system for minimizing the torque variation, the start position of the robot manipulator joints for generating a locus of the joint and receiving the input data, including the final position value input unit 110 and, input and joint angle calculator 120 for calculating the angle value of each joint through the receiving data, and a differential reference trajectory generation section 130 for generating a reference trajectory information used for initial setting of the dynamic processing, the reference Initial setting the sign information, to the torque change amount of each joint as the input value, the joint angle, the differential value from the state, including the torque and angular velocity to calculate the position, speed and torque of each joint dynamic input processing unit 140 characterized in that it comprises a. ;