Trajectory generation for redundant manipulators under optimization of consumed electrical energy

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, some inherent inconveniences of the use of the variational method such as long calculation time and the difficulty in designing the foward vector are diminished. The application of the method is oriented to repeated jobs realized by industrial robots manipulators. Through simulations, and experiments. The energy minimization of the proposed method was verified