Trajectory planning of a robot manipulator for optimum energy consumption

This study includes trajectory planning for optimum energy consumption of a six degree-of-freedom (6DOF) ABB IRB 1010 robot manipulator. Firstly, joint variables were determined using the Denavit-Hartenberg method. Then, forward and inverse kinematics calculations were made using these variables. Then, trajectory planning was made using different trajectory planning functions and using dynamic calculations, the torque requirements and energy consumption of the joints were calculated according to these trajectory planning functions. The fifth degree polynomial, one of the trajectory planning functions, was selected and optimization was performed on this function using the Bees Algorithm to reduce energy consumption. The performances of different trajectory planning functions and the optimized fifth degree polynomial are compared. The results of MATLAB - Simulink simulation are presented with graphics. According to these results, up to 46.90% less energy consumption was achieved compared to the method that consumes the most energy.