Sfp. Saramago et V. Steffen, OPTIMIZATION OF THE TRAJECTORY PLANNING OF ROBOT MANIPULATORS TAKING INTO ACCOUNT THE DYNAMICS OF THE SYSTEM, Mechanism and machine theory, 33(7), 1998, pp. 883-894
This paper considers a solution to the problem of moving a robot manip
ulator with minimum cost along a specified geometric path. The optimal
traveling time and the minimum mechanical energy of the actuators are
considered together to build a multi-objective function and the resul
ts depend on the associated weighting factors. The optimization proble
m is subject to physical constraints. The mathematical model takes int
o account the manipulator nonlinear coupled equations of motion. Numer
ical results for manipulator arms with three and six degrees of freedo
m are presented. (C) 1998 Elsevier Science Ltd. All rights reserved.