本文为美国宾夕法尼亚州立大学（作者：Tyler J. Carter）的硕士论文，共112页。

为了在全球范围内展开竞争，大多数制造商都在寻找降低成本的方法，同时，也面临着越来越多的要求，要求它们对地球环境负责。实现这两个目标的一种方法是找到最大化过程效率的方法。在这项研究中，通过机器人路径的各种几何检查，以确定路径的最低能耗、行进距离和过程时间。这些路径的设计是为了满足一个简单假设场景的目标，要求机器人在绕过障碍物时从一个特定的开始位置移动到一个结束位置。各种几何形状包括三角形、正方形、矩形、半圆形和四次多项式。每种路径几何都在两种情况下进行测试：一种情况下路径严格水平移动，另一种情况下允许垂直移动。讨论了有关转矩或能耗等变量的各种路径和关注点的一些观察结果。对于本文所建立的机器人模型，结果表明，在所研究的所有路径中，水平三角形路径几何具有最短的行走时间、最短的行走距离和最少的能量消耗。

In order to compete globally, mostmanufacturers are looking for ways to reduce costs and, at the same time, arefacing increasing demands to become environmentally responsible. One method toachieving both goals is to find ways to maximize process efficiency. In thisresearch, robotic paths of various geometries are examined in order todetermine the paths of lowest energy consumption, traveling distance, andprocess time. The paths are designed to meet the goals of a simple hypotheticalscenario, requiring the robot to move from a specific start position to an endposition while circumventing an obstacle. The various geometries includetriangular, square, rectangular, semi-circular, and a fourth degree polynomial.Each path geometry is tested under two cases: one where the path moves strictlyhorizontal, while the other allows for vertical movement. Several observationsare discussed regarding the various paths and points of interest regardingvariables such as torque or energy consumption. For the robot modeled in thiswork, it is shown that of all the paths examined, the horizontal triangularpath geometry has the shortest traveling time, shortest traveling distance, andconsumes the least amount of energy.

1 引言

2 文献回顾

3 研究方法

4 研究结果

5 结论与研究展望

附录A 转换矩阵

附录B 反向运动学推导

附录C 雅克比矩阵推导

附录D 部分RAPID代码

附录E 部分MATLAB代码

附录F MATLAB结果

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