A Method of Energy-Optimal Trajectory Planning for Palletizing Robot

Figure 1

Three-dimensional model of the palletizing robot. 1: big arm; 2: forearm; 3: parallel arm; 4: drive link of small arm; 5: parallel link of big arm; 6: parallel link of forearm; 7: triangle bracket; 8: the end of the wrist; 9: waist support; 10: base.