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arXiv · 2503.11716

A Robust and Energy-Efficient Trajectory Planning Framework for High-Degree-of-Freedom Robots

Sajjad Hussain·Md Saad·Almas Baimagambetov·Khizer Saeed
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Abstract

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.

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Sajjad Hussain, Md Saad, Almas Baimagambetov, Khizer Saeed. 2025-03-13. A Robust and Energy-Efficient Trajectory Planning Framework for High-Degree-of-Freedom Robots. https://arxiv.org/abs/2503.11716

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