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Trajectory planning for energy minimization of industry robotic manipulators using the Lagrange interpolation method

Title
Trajectory planning for energy minimization of industry robotic manipulators using the Lagrange interpolation method
Author
신규식
Keywords
Energy minimization; Trajectory planning; Industrial robotic manipulators; Lagrange interpolation method; Performance Index (PI); Iterative method; OPTIMIZATION
Issue Date
2015-05
Publisher
KOREAN SOC PRECISION ENG
Citation
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v. 16, No. 5, Page. 911-917
Abstract
We propose to use Lagrange interpolation method to express each joint trajectory function to realize trajectory planning for energy minimization of industrial robotic manipulators. We give the position constraints to the industrial robotic manipulators and the stability of the industrial robotic manipulators should be satisfied. In order to avoid Runge's phenomenon of Lagrange interpolation method, we use the Chebyshev interpolation points for our approach. Through derivation, the angular velocity functions and angular acceleration functions can be obtained. Lagrange interpolation method can satisfy position constraints, and ensure the smoothness of joint angular positions, velocities, accelerations, and joint torques. By taking these functions into the Performance Index (PI) of energy minimization, as well as the direct iteration method used for optimization of energy consumption, we can obtain the optimal trajectory for industrial robotic manipulators.
URI
https://link.springer.com/article/10.1007/s12541-015-0119-9http://hdl.handle.net/20.500.11754/36309
ISSN
2234-7593; 2005-4602
DOI
10.1007/s12541-015-0119-9
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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