Title :
Trajectory for robotic manipulators with torque minimization by using hermit interpolation method
Author :
Lu-Ping Luo ; Chao Yuan ; Kyoo-Sik Shin ; Chang-Soo Han
Author_Institution :
Dept. of Mech. Eng., Hanyang Univ., Ansan, South Korea
Abstract :
In this paper, we present a new method to get the trajectory of robotic manipulators with torque minimized. For the robotic manipulators for our research, just the position and velocity of the start and the final point are given. With given conditions and arbitrary chosen mutative points, we get the Hermite interpolation method used. Beside the start point and the final point, we will search for middle arbitrary chosen mutative points. Then the Hermite interpolation method is used to make sure the positions and velocities of the links satisfy the given conditions. With the change of position and velocity on the arbitrary chosen mutative points, with which taken into performance Index, the trajectory for torque minimization can be got.
Keywords :
interpolation; manipulators; performance index; trajectory control; Hermite interpolation method; final point; middle arbitrary chosen mutative points; performance index; robotic manipulators; start point; torque minimization; trajectory; Industries; Manipulators; Minimization; Service robots; Springs; Hermit Interpolation Method; Torque minimization; robotic manipulator; trajectory;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2013 13th International Conference on
Conference_Location :
Gwangju
Print_ISBN :
978-89-93215-05-2
DOI :
10.1109/ICCAS.2013.6704120