最小消費電力によるロボット軌道解 Trajectory Planning of Redundant Manipulators with Consumed Energy Minimization by Variational Approach
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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.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 117(6), 724-732, 1997-06
The Institute of Electrical Engineers of Japan