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

作     者：Luo, Lu-Ping Yuan, Chao Yan, Rui-Jun Yuan, Quan Wu, Jing Shin, Kyoo-Sik Han, Chang-Soo 

作者机构：Hanyang Univ Dept Mech Engn Ansan 426791 Gyeonggi Do South Korea Hanyang Univ Dept Mechatron Engn Ansan 426791 Gyeonggi Do South Korea Hanyang Univ Dept Robot Engn Ansan 426791 Gyeonggi Do South Korea 

出 版 物：《INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING》 (精密工程与制造业国际杂志)

年 卷 期：2015年第16卷第5期

页      面：911-917页

核心收录：

学科分类：08[工学] 080401[工学-精密仪器及机械] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 081102[工学-检测技术与自动化装置] 0811[工学-控制科学与工程] 

基　　金：Hanyang University [HY-2011-P] 

主　　题：Energy minimization Trajectory planning Industrial robotic manipulators Lagrange interpolation method Performance Index (PI) Iterative method 

摘      要：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.