Multi-DOF Robotic Manipulator Trajectory Controlling based on Minimum Energy Optimization
Hang Du, Jinxin Du, Lingbin Chen, Zhaohong Mai, X.H. Liu, H.Z. Cai · Advances in intelligent systems research/Advances in Intelligent Systems Research · 2015
This paper presents a methodology for determining an optimal trajectory based on minimizing energy consumption.Firstly we analyze a work process of a robotic manipulator between two given configurations at a given time, and the effect of main factors on motor energy consumption is also analyzed.A mathematical model of torque is used for obtaining a mathematical expression of each joint's torque and angle relationships.More specifically, for a multi-variable, higher order total torque model, a variational principle is used to obtain many differential equations for a multi-DOF (degrees of freedom) robotic manipulator, and iterative optimization is used to determine the optimal trajectory.Finally, a simulation shows that the optimal trajectory can save energy compared with two other trajectories.