Optimal motions for a robot manipulator amid obstacles by the concepts of penalty area

벌칙 면적 개념에 의한 로봇 팔의 장애물 중에서의 최적 운동

Optimal trajectory for a robot manipulator minimizing actuator torques or energy consumptions ina fixed traveling time is obtained in the presence of obstacles. All joint displacements are represented in finite terms of Fourier cosine series and the coefficients of the series are obtained optimally by nonlinear programming. Thus, the geometric path need not be prespecified and the full dynamic model is employed. To avoid the obstacles, the concept of the penalty area is newly introduced and this penalty area is includ- ed in the performance index with an appropriate weighting coefficient. This optimal trajectory will be useful as a geometric path in the minimum-time trajectory planning problem.