The method of the quasioptimal per energy efficiency design of the motion path for the anthropomorphic manipulator in a real time operation mode

Abstract

The method of the quasioptimal per energy efficiency design of the motion of triple-section anthropomorphic manipulator with seven degrees of mobility approximated in the form of sphere with hindrance in working area in a real time operation mode is provided in this article. Developed method is based on the iterative piecewise-line generation of the anthropomorphic manipulator motion path. This method has rather low computational complexity that allows working in the real time operation mode and gives it the flexibility which adapts it for difference commands. The task of quasioptimal for energy saving motion path of anthropomorphic manipulator the adaptation of iterative piecewise-line generation is method performed in order