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Robotics 2019, 8(1), 15;

Trajectory Design for Energy Savings in Redundant Robotic Cells

Dipartimento di Tecnica e Gestione dei Sistemi Industriali, Università degli Studi di Padova, 36100 Vicenza, Italy
Author to whom correspondence should be addressed.
This paper is an extended version of a conference paper previously published In the Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics, Udine, Italy, 11–13 September 2018, “Energy Saving in Redundant Robotic Cells: Optimal Trajectory Planning”.
Received: 17 January 2019 / Revised: 15 February 2019 / Accepted: 16 February 2019 / Published: 20 February 2019
(This article belongs to the Special Issue Mechanism Design for Robotics)
PDF [528 KB, uploaded 20 February 2019]


This work explores the possibility of exploiting kinematic redundancy as a tool to enhance the energetic performance of a robotic cell. The test case under consideration comprises a three-degree-of-freedom Selective Compliance Assembly Robot Arm (SCARA) robot and an additional linear unit that is used to move the workpiece during a pick and place operation. The trajectory design is based on a spline interpolation of a sequence of via-points: The corresponding motion of the joints is used to evaluate, through the use of an inverse dynamic model, the actuators effort and the associated power consumption by the robot and by the linear unit. Numerical results confirm that the suggested method can improve both the execution time and the overall energetic efficiency of the cell. View Full-Text
Keywords: trajectory planning; energy efficiency; redundancy; robotic cell; kinematic redundancy trajectory planning; energy efficiency; redundancy; robotic cell; kinematic redundancy

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Boscariol, P.; Richiedei, D. Trajectory Design for Energy Savings in Redundant Robotic Cells. Robotics 2019, 8, 15.

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