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

Volume

2

fYear

1996

fDate

18-21 Mar 1996

Firstpage

687

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on

Conference_Location

Mie

Print_ISBN

0-7803-3219-9

Type

conf

DOI

10.1109/AMC.1996.509331

Filename

509331