Energy-Efficient Trajectory Optimization for 6-DOF Industrial Manipulators Using Genetic Algorithm

This paper presents a method to determine the energy optimal path for a 6 Degrees of Freedom (DOF) manipulator between specified initial and goal configurations. This method analyzes ways to improve robot arm movements by finding optimal way points coordinates using Genetic Algorithm (GA). These waypoints are used to generate the energy efficient path and satisfying the joint constraints. The findings show significant improvements by generating smooth motion and consuming minimum energy. The methodology can be used for energy optimal trajectory planning of 6-DOF manipulators.