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http://dx.doi.org/10.5762/KAIS.2015.16.4.2370

Trajectory Planning for Torque Minimization of Robot Manipulators Using the Lagrange Interpolation Method  

Luo, Lu-Ping (Department of Mechanical Engineering, Hanyang University)
Hwang, Soon-Woong (Department of Mechatronics Engineering, Hanyang University)
Han, Chang-Soo (Department of Robot Engineering, Hanyang University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.16, no.4, 2015 , pp. 2370-2378 More about this Journal
Abstract
This paper proposes an algorithm using Lagrange interpolation method to realize trajectory planning for torque minimization of robot manipulators. For the algorithm, position constraints of robot manipulators should be given and the stability of robot manipulators should be satisfied. In order to avoid Runge's phenomenon, we set up time interpolation points using Chebyshev interpolation points. After that, we found suitable angle which corresponds to the points and then we got trajectories of joint's angle, velocity, acceleration using Lagrange interpolation method. We selected performance index for torque consumption optimization of robot manipulator. The method went through repetitive computation process to have minimum value of the performance index by calculated trajectory. Through the process, we could get optimized trajectory to minimize torque and performance index and guarantee safety of the motion for manipulator performance.
Keywords
Iterative method; Lagrange interpolation method; Performance index; Trajectory planning; Torque minimization;
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Times Cited By KSCI : 1  (Citation Analysis)
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