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
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.
- 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society
電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 117(6), 724-732, 1997-06
The Institute of Electrical Engineers of Japan