The invention relates to a model-constraint-based mechanical arm energy
optimal trajectory planning control method and device. The model-constraint-based mechanical arm energy
optimal trajectory planning control method comprises the steps that initial conditions are set and mechanical arm
joint angle position description with respect to time is calculated and obtained through a cubic spline interpolation
algorithm; on base of the mechanical arm
joint angle position description and in combination with a dynamics model, a continuous function of moment with respect to time is obtained; a nonlinear constrained planning model taking mechanical arm movement
energy consumption as the optimizing target is established, and in combination with the mechanical arm
joint angle position description, thecontinuous function of the moment with respect to time and
friction force energy consumption,
energy consumption of a target function is solved; and on base of the nonlinear constrained planning model taking mechanical arm movement energy consumption as the optimizing target, the minimum value of energy
optimal trajectory planning is iteratively solved adopting a sequential quadratic planning
algorithm, and a mechanical arm optimal trajectory is obtained. Compared with the prior art, the model-constraint-based mechanical arm energy
optimal trajectory planning control method and device do notneed a large number of
complex calculation and have good real-time performance, and energy consumption is least.