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The Joint Trajectory Planning with Minimal Joint Torque for Spatial Redundant Robots

GUO Li xin 1,2 , ZHAO Ming yang 2, ZHANG Guo zhong 1 (1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110006,China; 2. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110015,China)  
The work equipment of many construction machines belongs to a spatial redundant robot. Much attention is paid to the trajectory planning of automation of mechanical control of the machinery. By the minimal joint torque method of the redundant robots, the joint trajectory planning was analyzed and simulated to a spatial 4R redundant robot. The simulated results show that this method is reliable, and the kinetic and dynamic characteristics of the robot is satisfied.
【CateGory Index】: TH112
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