Abstract
This study proposed a method for suppressing the torques and consumed kinetic energy to drive manipulators with consideration of the effect of inertial forces. The present study deals with the case that manipulators are controlled by specifying only the starting and ending points. The trajectory between both points can be determined arbitrary. The total motion of manipulator is determined by giving the initial position, initial posture and the motion curve of each input joint. The motion curve reveals time profiles of angle displacements, velocities and accelerations of each actuator. In this study the motion curve is expressed by polynomials and their coefficients are decided by two heuristic algorithms. One is representative method ; GA, and the other is SHA proposed by S. Lin, et al. The study determines the optimal motion of PUMA560 by the proposed method, and reveals it effectiveness.
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