Trajectory Planning of Redundant Manipulators with Consumed Energy Minimization by Variational Approach

Abstract

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, the inverse matrix of Jacobian calculation is not required, and the minimal trajectory error is guaranteed while minimizing the consumed electricalenergy. The theory, simulation, and experiments are presented in this paper. © 1997, The Institute of Electrical Engineers of Japan. All rights reserved.