Optimization of robotic manipulators parameters modeled with integrated equations of actuators and links

Optimizing system parameters such as energy is a significant issue in robotics. System modeling is an effective factor to reach this goal. In robot modeling, a DC motor is mostly modeled as a torque source. In this paper a robotic manipulator with DC motors as its actuators, is modeled as a electromechanical system that its equations of electrical and mechanical parts are obtained integratively; which allows us to control the system more efficiently. Dynamic programming is used to optimize system parameters. This will happen when performance index which includes energy and path parameters, is minimized. At last the optimum path is derived.