Optimal Trajectory Planning Based On Dynamics For Manipulation

The manipulator trajectory planning is one of the critical issues of robot motion planning research.Manipulator in the manufacturing industry has been widely used,how to make better use of manipulators,get shorter running time or less energy consumption trajectory increasingly had called researchers’s attention.Based on summarizing the research results of the manipulator kinematics trajecto-ry planning, dynamic trajectory planning and dynamic model parameter identification on the direction, carry out the following work:1. Summing up the basic framework of the dynamic parameter identification and improving the parameter estimation method.We use weighted linear least squares estimation in parameter identification,so that we can differ accurate measurement data and inaccurate measurement data.Finally,the effectiveness of the identifica-tion procedure is verified on the elastic leg.2. Solving time-optimal trajectory planning problem by convex optimal,and adding extra costs in objective function that represents energy and the rate of torque change.to make trajectory easier to implement.3. Based on time-optimal trajectory,this thesis proposes a energy optimal trajectory planning method.The method searches on the time axis,using dynamic program-ming,to get the given time energy optimal trajectory.