Balancing plays a major role in performance improvement of robotic manipulators. From an optimization point of view, some balancing parameters can be modified to decrease motion cost. Recently introduced, this concept is called optimal balancing: an umbrella term for static balancing and other balancing methods. In this method, the best combination of balancing and trajectory planning is sought. In this note, repetitive full cycle motion of robot manipulators including different subtasks is considered. The basic idea arises from the fact that, upon changing dynamic equations of a robotic manipulator or cost functions in subtasks, the entire cycle of motion must be reconsidered in an optimal balancing problem. The possibility of cost reduction for a closed contour in potential fields is shown by some simulations done for a PUMA-like robot. Also, the obtained results show 34.8% cost reduction compared to that of static balancing.

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