Proposal of trajectory generation for redundant manipulators using variational approach applied to minimization of consumed electrical energy

摘要

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.