Motions with minimal joint speeds and joint accelerations for redundant manipulators

Abstract

Manipulator motions for a redundant manipulator with minimal joint speeds and joint accelerations are obtained making use of the Euler-Lagrange equations and a forward and reverse iterative procedure. The method is applied to a 3R planar manipulator. The globally optimal motions with minimal joint accelerations are found to be different from the globally optimal motions with minimal joint speeds, which have been found earlier to be equivalent to the optimal motions based on local resolution of redundancy for minimal joint accelerations. Globally optimal motions with a different weight factor for each joint are also presented. The optimization criteria for minimal joint speeds and minimal joint accelerations are then combined at some proper proportions to produce globally optimal motions that possess both the features of globally optimal motions for the two constituent optimization criteria.