Trajectory Planning of Redundant Manipulators with Consumed Energy Minimization by Variational Approach.

• HIRAKAWA Andre R.

  Yokohama National University

• KAWAMURA Atsuo

  Yokohama National University

書誌事項

タイトル別名

• Trajectory Planning of Redundant Manipu

抄録

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.

収録刊行物

• 電気学会論文誌Ｄ（産業応用部門誌）

  電気学会論文誌Ｄ（産業応用部門誌） 117 (6), 724-732, 1997

  一般社団法人 電気学会

キーワード

• Trajectory Planning
• Redundant Manipulators
• Variational Approach
• Robot Energy Minimization

詳細情報

• CRID: 1390001204654420096
• NII論文ID: 10002724652
• NII書誌ID: AN10012320
• DOI: 10.1541/ieejias.117.724
• ISSN: 13488163
• ISSN: 09136339
• NDL書誌ID: 4216511
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4216511
• Web Site: http://www.jstage.jst.go.jp/article/ieejias1987/117/6/117_6_724/_pdf
• 本文言語コード: en
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