Abstract: Saving energy is one of the main topics of discussion in the modern world due to the limitation of energy resources and the deterioration of the environment on earth. It is, therefore, timely to consider saving the dissipative energy in a manipulator system in PTP motion control.This paper deals with the determination of the optimal trajectory which can minimize the dissipative energy in actuators of a horizontally articulated manipulator. The dissipative energy is dependent on the operating time and the angular functions of the joints. First i...
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