Simple energy-efficient path planning based on graph algorithms for articulated robotic-manipulators

Abstract

The number of robots in the world has been steadily growing for the last decades. With Industry 4.0 approaching, robots are likely to replace many people in factories and plants. Billions of robotic systems require huge amount of energy. Under these conditions, efficient energy consumption is an economic and environmental necessity. In this article, we propose a simple approach to reduce energy consumption for articulated robotic manipulators most commonly used in the industry. The article analyzes the existing approaches to optimize the energy costs of robot motion planning and proposes a new optimization method for graph-based path planning algorithms.