Giving the start point and the target point in the workplace of the manipulator, the authors put forward the minimal energy trajectory that minimizes the integral of squared acceleration in each ROF, which is solved by a numerical iterative procedure that
Giving the start point and the target point in the workplace of the manipulator, the authors put forward the minimal energy trajectory that minimizes the integral of squared acceleration in each ROF, which is solved by a numerical iterative procedure that
基于这一目的，我们提出了一种新的获取机械手最优轨迹的能量最小准则：给定机械手末端轨迹的始末位置，根据其各自由度的加速度积分和最小的能量最小准则寻求满足约束的最优（平滑）轨迹。