Movement Optimization of Robotic Arms for Energy and Time Reduction using Evolutionary Algorithms
Robotics
2023-06-09 v1 Numerical Analysis
Systems and Control
Systems and Control
Numerical Analysis
Optimization and Control
Abstract
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 the longevity of robotic manipulators. We utilized the 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.
Cite
@article{arxiv.2306.05329,
title = {Movement Optimization of Robotic Arms for Energy and Time Reduction using Evolutionary Algorithms},
author = {Abolfazl Akbari and Saeed Mozaffari and Rajmeet Singh and Majid Ahmadi and Shahpour Alirezaee},
journal= {arXiv preprint arXiv:2306.05329},
year = {2023}
}