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EISSN: 2313-3724, Print ISSN:2313-626X

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 Volume 4, Issue 12 (December 2017), Pages: 1-4


 Original Research Paper

 Title:  Trajectory optimization for redundant/hyper redundant manipulators

 Author(s):  Kagan Koray Ayten *, Ahmet Dumlu


 Department of Electrical & Electronics Engineering, College of Engineering, Erzurum Technical University, Erzurum, Turkey

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This paper presents an optimization technique to generate minimum energy consumption trajectories for redundant/hyper-redundant manipulators with constraint conditions. Two novel methods are combined for trajectory optimization technique. In the first method, the system's constraints are handled in a sequential manner within the cost function in order to avoid running the inverse dynamics when the system’s constraints are not satisfied. In the second method, a novel virtual link concept is introduced to replace all the redundant links of the redundant/hyper-redundant manipulators. The method is verified on a three-degree-of-freedom redundant manipulator and the result is also demonstrated with computer simulations based on an 8-link planar hyper-redundant manipulator. 

 © 2017 The Authors. Published by IASE.

 This is an open access article under the CC BY-NC-ND license (

 Keywords: Trajectory planning, Energy minimization, Constraint handling, Cost function, Hyper-redundant manipulators, Redundant manipulator

 Article History: Received 28 February 2017, Received in revised form 17 September 2017, Accepted 21 September 2017

 Digital Object Identifier:


 Ayten K and Dumlu A (2017). Trajectory optimization for redundant/hyper redundant manipulators. International Journal of Advanced and Applied Sciences, 4(12): 1-4

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