Mathematical methods for planning energy-efficient motion path of the manipulator anthropomorphic robot for the typical obstacles

Abstract

Anthropomorphic robots (AR) have a problem of low work duration, that negatively affects their functioning efficiency in different environments. The article discusses the optimization of its manipulators energy efficiency when performing operations in the working area with an obstacle to reduce the energy consumption of robots. Increasing the useful life of the anthropomorphic robot on one cycle of charging is the purpose of the study. This happens due to reducing the energy consumption of manipulators with excessive mobility when operating in the working area with a typical obstacle through the planning of energy-efficient travel path. The article shows the results of the method development for planning the path of the AR manipulator in the working area with a typical obstacle in the shape of a sphere or a parallelepiped. The method for solving kinematics problems based on a geometric approach for kinematic chains consisting of rotational joints using the Denavit-Hartenberg representation is presented in the paper. The computational complexity of the proposed solutions is analized, the efficiency of the developed methods and algorithms is evaluated