Trajectory planning for robot manipulators is very important in achieving high productivity and excellent accuracy. One of the objectives nowadays minimum energy consumption due to increase petroleum prices difficulty supply lines as well. It objective this paper design trajectory manipulator based on per cycle motors running manipulator. The selected will be checked also against jerk well ensu...

while the conventional dea based production plans aim to minimize all the inputs consumption and maximize all the outputs production, there are many real world production systems may also generate undesirable by-products. one methodological difficulty associated with the previous dea-based production planning models is how to incorporate undesirable factors in the planning models, while the sim...