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- W2783197956 abstract "In this paper, the energy used to hold the position of a robot arm against gravitational torque is presented. As the gravitational torque is static over the pose of the manipulator, it is possible to draw an energy map in a 2D grid. To reduce the energy used in a point-to-point movement, a modified Dijkstra's path-finding algorithm is used. Generally, Dijkstra's algorithm finds the shortest path on the grid, but in this paper, it is modified to generate the path with minimum use of position-holding energy. After generating the joint path off line, the energy use is compared between a conventional path and the proposed method is evaluated in a simulation including full dynamics." @default.
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- W2783197956 date "2018-01-01" @default.
- W2783197956 modified "2023-09-23" @default.
- W2783197956 title "Quasi-optimal energy path planning for anthropomorphic manipulator using gravity torque mapping" @default.
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- W2783197956 doi "https://doi.org/10.1109/iwed.2018.8321384" @default.
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