Energy-Efficient Robot Configuration and Motion Planning Using Genetic Algorithm and Particle Swarm Optimization

Kazuki Nonoyama, Ziang Liu, Tomofumi Fujiwara, Md Moktadir Alam, Tatsushi Nishi

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


The implementation of Industry 5.0 necessitates a decrease in the energy consumption of industrial robots. This research investigates energy optimization for optimal motion planning for a dual-arm industrial robot. The objective function for the energy minimization problem is stated based on the execution time and total energy consumption of the robot arm configurations in its workspace for pick-and-place operation. Firstly, the PID controller is being used to achieve the optimal parameters. The parameters of PID are then fine-tuned using metaheuristic algorithms such as Genetic Algorithms and Particle Swarm Optimization methods to create a more precise robot motion trajectory, resulting in an energy-efficient robot configuration. The results for different robot configurations were compared with both motion planning algorithms, which shows better compatibility in terms of both execution time and energy efficiency. The feasibility of the algorithms is demonstrated by conducting experiments on a dual-arm robot, named as duAro. In terms of energy efficiency, the results show that dual-arm motions can save more energy than single-arm motions for an industrial robot. Furthermore, combining the robot configuration problem with metaheuristic approaches saves energy consumption and robot execution time when compared to motion planning with PID controllers alone.

Original languageEnglish
Article number2074
Issue number6
Publication statusPublished - Mar 1 2022


  • Genetic algorithm
  • Optimization
  • Particle swarm optimization
  • PID
  • Robot motion planning
  • Robot placement

ASJC Scopus subject areas

  • Renewable Energy, Sustainability and the Environment
  • Fuel Technology
  • Energy Engineering and Power Technology
  • Energy (miscellaneous)
  • Control and Optimization
  • Electrical and Electronic Engineering


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