AUTHORS: Amir Feizollahi, Rene V. Mayorga
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ABSTRACT: Optimized motion planning of the manipulators with regards to their energy consumption level is a challenging problem in robotics which requires a combination of interdisciplinary studies to offer a solution. In this article, a framework is developed to design a motion planner implementing a proposed search algorithm and simulate the robot motion in different environments. The superiority of the search algorithm is investigated and the development of the MATLAB framework is totally discussed accompanying the simulation results.
KEYWORDS: Motion Planning, Manipulator, Optimization, Graph Search Algorithm, Mathematical Modeling
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