مرور Volume 4, Issue 3 بر اساس موضوع "Minimal Energy Consumption"

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Optimal Trajectory Generation for Energy Consumption Minimization and Moving Obstacle Avoidance of SURENA III Robot’s Arm

mahdavian, mohammad؛ Yousefi-Koma, Aghil؛ Shariat-Panahi, Masoud؛ Khadiv, Majid؛ Ghasemi Toudeshki, Amirmasoud (K.N. Toosi University of Technology, 2015-12-01)

In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven ...