Majid Khadiv
Faculty of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
[ 1 ] - Optimal Trajectory Generation for Energy Consumption Minimization and Moving Obstacle Avoidance of SURENA III Robot’s Arm
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 DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...
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