Suboptimal Path Planning of Robots: Minimal Nonlinear Forces and Energy

Abstract

An algorithm has been presented in which the role of inertia sensitivities in path planning of robots is investigated. The main objective is to obtain a path, from point A to point B in joint coordinates, in which the nonlinear forces (centripetal and Coriolis) are minimized. Using standard optimization theory, an objective (“cost”) function is selected to include energy and nonlinear forces for minimization.