A Multiobjective Optimal Path Planning for a 1-DOF Clutched ARM
Hao Gu, Marco Ceccarelli · Mechanics Based Design of Structures and Machines · 2012
In this paper, a procedure of optimal path planning is proposed for the operation of the anthropomorphic low-cost easy-operation LARM clutched arm with only one actuator. An algorithm is proposed for path planning of the arm motion with multiobjective considerations that take into account of traveling time, energy consumption, and end-effector performance. Numerical examples and laboratory experiments are reported to show the feasibility of the proposed path planning and the efficiency of the LARM clutched arm.