基于电能消耗最小化的变分方法的冗余机械手轨迹生成方法

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509331

A.R. Hirakawa, A. Kawamura

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引用次数: 19

摘要

提出了一种求解冗余自由度机械臂轨迹生成问题的方法，该方法采用变分法和b样条曲线求解冗余自由度机械臂系统电能消耗的最小化问题。该方法的应用面向工业机器人机械手实现的重复作业。通过仿真和实验，验证了该方法的能量最小化性。

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Proposal of trajectory generation for redundant manipulators using variational approach applied to minimization 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. 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.

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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