Trajectory for robotic manipulators with torque minimization by using hermit interpolation method

Abstract

In this paper, we present a new method to get the trajectory of robotic manipulators with torque minimized. For the robotic manipulators for our research, just the position and velocity of the start and the final point are given. With given conditions and arbitrary chosen mutative points, we get the Hermite interpolation method used. Beside the start point and the final point, we will search for middle arbitrary chosen mutative points. Then the Hermite interpolation method is used to make sure the positions and velocities of the links satisfy the given conditions. With the change of position and velocity on the arbitrary chosen mutative points, with which taken into performance Index, the trajectory for torque minimization can be got.