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.

翻译：机器人操作臂的轨迹优化包括机器人运动优化以及机器人末端执行器路径优化两方面。本文旨在寻找最优运动参数，包括运动类型、速度和加速度，以最小化机器人能耗。通过最小化能量实现轨迹优化可提升机器人操作臂的使用寿命。我们采用粒子群优化算法来寻找能获得最低能耗的运动参数。所提方法在不同轨迹上的有效性得到了验证。实验结果表明，使用UR5机械臂获得了49%的效率提升。