Movement Optimization of Robotic Arms for Energy and Time Reduction using Evolutionary Algorithms

摘要

Trajectory optimization of a robot manipulator consists of both optimization of the robot movement as well as optimization of the robot end-effector path. This paper aims to find optimum movement parameters including movement type, speed, and acceleration to minimize robot energy. Trajectory optimization by minimizing the energy would increase longevity of robotic manipulators. We utilized particle swarm optimization method to find the movement parameters leading to minimum energy consumption. The effectiveness of the proposed method is demonstrated on different trajectories. Experimental results show that 49% efficiency was obtained using a UR5 robotic arm.