Location Optimization of Manipulator to Minimize Energy Considering the Path Direction

This study presents a novel Directional Energy Index (DEI) to optimize the energy efficiency of manipulators operating within constrained environments. The DEI evalu- ates the manipulator’s energy consumption along a specified path, with the advantage of not requiring consideration of the system’s dynamics, i.e., any time-related factors. Through simulations involving a planer two-link manipulator and the Yaskawa HC10, the DEI effectively identifies the optimal manipulator’s location that minimizes energy usage. This index supports the development of energy-efficient robotic systems, aligning with resource conservation and carbon neutrality goals.