In this paper, a procedure of optimal path planning is proposed for the operation of the anthropomorphic low-cost easy-operation LARM clutched arm with only one actuator. An algorithm is proposed for path planning of the arm motion with multiobjective considerations that take into account of traveling time, energy consumption, and endeffector performance. Numerical examples and laboratory experiments are reported to show the feasibility of the proposed path planning and the efficiency of the LARM clutched arm.

A Multiobjective Optimal Path Planning for a 1-DOF Clutched ARM

CECCARELLI, Marco
2012

Abstract

In this paper, a procedure of optimal path planning is proposed for the operation of the anthropomorphic low-cost easy-operation LARM clutched arm with only one actuator. An algorithm is proposed for path planning of the arm motion with multiobjective considerations that take into account of traveling time, energy consumption, and endeffector performance. Numerical examples and laboratory experiments are reported to show the feasibility of the proposed path planning and the efficiency of the LARM clutched arm.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11580/21048
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