OPTIMIZATION OF THE TRAJECTORY PLANNING OF ROBOT MANIPULATORS TAKING INTO ACCOUNT THE DYNAMICS OF THE SYSTEM

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.