Energy loss optimisation of a robotic arm

Abstract

The use of robots is widely spread across the industry. It is paramount that the robot end-effector tracks a pre-defined trajectory with the lowest energy loss. To contribute to the solution of this problem, the robot trajectory is defined using a tracking parameter which is optimised using the Matlab® fntinunc function and the Particle Swam optimisation algorithm. This approach was tested for a case study with the energy loss being reduced in approximately 96.15%.