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- W112486886 abstract "This paper employs a geometric approach in reducing the number of time-consuming iterations necessary for the numerical solution of an optimal energy consumption problem for small amplitude oscillatory motions of robot manipulators. A general objective function in joint space is given for the energy needs in the drives, and specific applications for a commercially available manipulator, Unimation-PUMA 560, are carried out by separating the manipulator motions into two parallel segments: arm and wrist. This process, in general, leads to a highly nonlinear and transcendental optimization problem. The geometric study is presented, and the shortened numerical optimization is carried out. For any given point in the workspace, optimal directions of oscillations and their corresponding energy levels are found. This information is translated into a map of minimum energy levels across the workspace. The map will comprise a section of an intelligent control mechanism of larger scope which is conceived for ultimate use in space and subsea robotic operations. 6 references." @default.
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- W112486886 title "Minimum energy paths for optimal oscillatory movements of PUMA arm" @default.
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