Title :
Proposal of trajectory generation for redundant manipulators using variational approach applied to minimization of consumed electrical energy
Author :
Hirakawa, Andre R. ; Kawamura, Atsuo
Author_Institution :
Div. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
Abstract :
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. The application of this method is oriented to repeated jobs realized by industrial robot manipulators. Through simulations and experiments, the energy minimization of the proposed method was verified
Keywords :
industrial manipulators; manipulator kinematics; minimisation; path planning; performance index; power consumption; redundancy; variational techniques; B-Spline curve; consumed electrical energy; energy minimization; industrial robot manipulators; redundant manipulators; repeated jobs; trajectory generation; variational approach; Boundary conditions; Jacobian matrices; Manipulators; Orbital robotics; Performance analysis; Postal services; Proposals; Robot kinematics; Service robots; Spline;
Conference_Titel :
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location :
Mie
Print_ISBN :
0-7803-3219-9
DOI :
10.1109/AMC.1996.509331
