Experimental validation of energy-efficient optimal trajectories for redundant robotic systems

This paper presents a motion planning approach designed to achieve energy efficiency in redundant robotic systems. The strategy proposed in this work is based on the optimization of the position of one of the redundant joints of the robot in each of the way points that define the task, while maintaining a fixed execution time. The configuration of the robot is then obtained through inverse kinematics, and the final trajectory is computed by interpolating the optimal joint positions of the robot in consecutive way points. Numerical and experimental results validate the proposed approach using a manipulator with seven degrees of freedom, and demonstrating the feasibility of the strategy in enhancing energy efficiency in redundant robots.