DESIGN OF TIME-FUEL OPTIMAL TRAJECTORY PLANNER FOR ROBOT MANIPULATOR

This paper presents a scheme for the optimal time-fuel trajectory planner designed by dynamic programming.In the design, parameters are chosen suitably, therefore the state space of N-jointed manipulators is restricted to two dimensions. Then it does not require a lot of memory and too much computation time for dynamic programming. As numerical examples, the method is simulated for the first three joints of the robot manipulators. The results show us it is faily good.