SYSTEM AND A METHOD FOR GENERATING AN OPTIMAL TRAJECTORY CAPABLE OF MINIMIZING THE JOINT TORQUE VARIATION OF A ROBOT MANIPULATOR

摘要

PURPOSE: A system and a method for generating an optimal trajectory are provided to reduce energy consumption required for the generated trajectory and to prevent the abrasion of the system by recognizing the abnormal signal of input torque values.;CONSTITUTION: A system for generating an optimal trajectory comprises an input part (110), a joint angle calculating part (120), a reference trajectory generating part (130), and a differential dynamic processing part (140). The input part receives input data including the start and final position values of a joint. The joint angle calculating part calculates a joint angle value based on the input data. The reference trajectory generating part generates reference trajectory information used to the initial setting of the differential dynamic processing unit. The differential dynamic processing unit calculates the position, speed, input torque values of the joint.;COPYRIGHT KIPO 2013;[Reference numerals] (110) Input part; (120) Joint angle calculating part; (121) Module for setting a coordinate space; (122) Module for calculating a joint angle; (130) Reference trajectory generating part; (131) Module for generating traictory; (132) Module for generating input torque; (140) Differential dynamic processing part; (150) Control part