A Study on Trajectory Generation for a Multi-Joint Robot.
Lubo Song, Yoshitsugu Kamiya, Hiroaki Seki, Masatoshi Hikizu, Qin Zhang · Journal of the Japan Society for Precision Engineering · 2001
For a multi-joint robot, desired operations can be realized by dexterously controlling its link postures.Especially for a stance robot with multiple joints, it is possible to select a trajectory that consists of many link postures, each of which makes the load torque of all the joints as low as possible even with the limitation of no turnover.In this