A Robust and Energy-Efficient Trajectory Planning Framework for High-Degree-of-Freedom Robots
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
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| _version_ | 1866913737834758144 |
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| author | Hussain, Sajjad Saad, Md Baimagambetov, Almas Saeed, Khizer |
| author_facet | Hussain, Sajjad Saad, Md Baimagambetov, Almas Saeed, Khizer |
| contents | Energy efficiency and motion smoothness are essential in trajectory planning for high-degree-of-freedom robots to ensure optimal performance and reduce mechanical wear. This paper presents a novel framework integrating sinusoidal trajectory generation with velocity scaling to minimize energy consumption while maintaining motion accuracy and smoothness. The framework is evaluated using a physics-based simulation environment with metrics such as energy consumption, motion smoothness, and trajectory accuracy. Results indicate significant energy savings and smooth transitions, demonstrating the framework's effectiveness for precision-based applications. Future work includes real-time trajectory adjustments and enhanced energy models. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_11716 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Robust and Energy-Efficient Trajectory Planning Framework for High-Degree-of-Freedom Robots Hussain, Sajjad Saad, Md Baimagambetov, Almas Saeed, Khizer Robotics Energy efficiency and motion smoothness are essential in trajectory planning for high-degree-of-freedom robots to ensure optimal performance and reduce mechanical wear. This paper presents a novel framework integrating sinusoidal trajectory generation with velocity scaling to minimize energy consumption while maintaining motion accuracy and smoothness. The framework is evaluated using a physics-based simulation environment with metrics such as energy consumption, motion smoothness, and trajectory accuracy. Results indicate significant energy savings and smooth transitions, demonstrating the framework's effectiveness for precision-based applications. Future work includes real-time trajectory adjustments and enhanced energy models. |
| title | A Robust and Energy-Efficient Trajectory Planning Framework for High-Degree-of-Freedom Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.11716 |