A Optimal Trajectory Planning of Robotic Manipulators


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  • ロボットマニピュレータの最適軌道計画
  • ロボット マニピュレータ ノ サイテキ キドウ ケイカク

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This paper presents a method for optimal trajectory planning of robotic maniplators of which all joints are rotational. When the start and end points of end effector are given in the Cartesian coordinates, Fourier coefficients representing each joint velocity and interval of motion which specify the optimal trajectory in joint coordinates are searched by using the method of steepest descent. As numerical examples, the trajectories of three-link manipurator are simulated. And it is confirmed that the optimal trajectory is generated by the proposed method.



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