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Proposal of trajectory generation for redundant manipulators without inverse matrix calculation and application to consumed electrical energy minimization

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Abstract:

A method to solve the trajectory generation problem in redundant degree of freedom manipulators has been proposed, in which the variational approach is introduced for minimization of the consumed electrical energy of a robot manipulator system. The application of the proposed method is oriented to repeated jobs realized by industrial robots manipulators. Through simulations and experiments, the energy minimization of the proposed method is verified.

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855397X00218

Affiliations: Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan

Publication date: January 1, 1996

tandf/arb/1996/00000011/00000003/art00001
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