Conventional trajectory planners most widely used is based on a trapezoidal pattern of a end-effector velocity on the desired path in a task space. This method can be implemented on real time. However, the motion planned by this method usually leads to a very slow motion, because it is difficult to take into consideration a constraints on the magnitude of joint velocities or joint torques.
In this paper, we propose a new trajectory planner for 3 d. o. f. manipulators based on a kinetic energy of manipulators. The supplied electric power for the manipulators mainly depends on the differenciation of kinetic energy. Therefore, , the proposed method can take into consideration the constraints on the magnitude of a supplied electric power and joint velocities, in other words, we can realize a“high speed motion”under the constraints on the supplied electric power and the joint velocity.
Also the proposed method dose not require so much calculation amount, and can be implemented on real time.
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