Energy-optimal trajectory generation for robot manipulators via Hamilton-Jacobi theory

This paper presents a Hamilton-Jacobi theory based method to generate energy-optimal trajectories for the two-link planar manipulator which is a key component in the robot systems. We first build the mathematical model of the robot manipulator, then formulate a corresponding optimal control problem and solve it via the Hamilton-Jacobi theory. Compared with the existing methods, the presented framework is useful for the on-demand trajectory generation for different tasks. A three task example illustrates the effectiveness of the introduced method.