2P1-E11 Simultaneous Optimization of Dynamic Parameters and Trajectory of Robot Manipulators

Abstract

In this paper we deal with a simultaneous optimal design problem of dynamic parameters and the trajectory for robot manipulators. The dynamic characteristic of robot manipulators is uniquely determined by base parameters, which are functions of physical parameters, e.g., the mass the moment of inertia and damping, etc.. We propose a new simultaneous optimal design method of base parameters and the trajectory using a numerical design algorithm. The optimal base parameters can be obtained by proposed method for the resultant trajectory.