Minimum Control Effort Trajectory Based 6-DOF Manipulator Trajectory Planning Assistive Method

Robotic teleoperation systems have emerged as critical technologies in human-robot collaboration due to their synergistic precision and operational intelligence. However, traditional teleoperation methods for transmitting operator commands are not intuitive, and the robot's execution trajectory is often non-smooth. To address these issues, this study investigates trajectory replanning for a virtual reality (VR)-based teleoperated robotic system and proposes a teleoperation-assisted planning method based on Minimum Control Effort (MINCO) trajectory. This research first establishes a kinematic model for the robotic arm. Subsequently, a VR teleoperation platform developed using Unity3D is built. Based on this platform, the teleoperation input trajectory is replanned. Two experiments are designed to analyze the motion trajectories before and after optimization, verifying that the proposed method effectively optimizes the energy consumption of the robotic arm's motion during teleoperation and significantly improves the smoothness of the motion trajectory.