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This paper presents an approach for energy-efficient trajectory planning of an industrial robot. A model that can be used to formulate the energy consumption of the robot with the kinematics constraints is developed. Given the trajectory in the Cartesian space, the septuple B-spline is applied in joint space trajectory planning to make the velocities, accelerations, and jerks bounded and continuous, with constraints on the initial and ending values. Then, energy-efficient optimisation problem with nonlinear constraints is discussed. Simulation results show that, the proposed approach is an effective solution to trajectory planning, with ensuring a good energy improvement and fluent movement for the robot manipulators.
Liu et al. (Mon,) studied this question.