抄録
This study proposes a trajectory generation of maipulators by heuristic method to suppress dynamic input torques and consumed kinetic energy which are caused by inertial force. The proposed method uses polynomials to reveal trajectories which are correspond to positions of output points, velocities and acceleration. Furthermore, the coefficients of each polynomial dimensions are decided by a heuristic method. The study uses the heuristic algorithms SHA proposed by S.Lin et al. This study confirmed that the proposed method will easily generate trajectories which can suppress dynamic torques and consumed kinetic energy.
