Energy-Efficient Path Planning: Designed Software Implementation

摘要

The paper continues developing the method of a real-time quasi-optimal trajectory planning for anthropomorphic manipulator. Our goal includes software implementation of previously designed methods and algorithms of the quasi-optimal trajectory for anthropomorphic manipulator. The general structure and interrelation of the developed methods and algorithms is described, as well as their significance for obtaining the final result. Component diagrams and communication diagrams are presented, on the basis of which the interfaces of software components are built. Their structure and composition of each software component are given. The description of the interfaces of various components of the system allows the use of design components as part of other software systems, for example, designed to control the manipulators of an anthropomorphic robot or as part of other modeling systems. The illustration of the developed software implementation is given. For the software implementation performed by the author, with standard input data, the necessary variable memory capacity is about 212 Kbytes, which allows using the proposed software implementation on the computer systems of existing manipulators in real time.