Finite-horizon kinetic energy optimization of a redundant space manipulator

Tringali, Alessandro and Cocuzza, Silvio (2021) Finite-horizon kinetic energy optimization of a redundant space manipulator. Applied Sciences, 11 (5). 2346. ISSN 2076-3417 (

[thumbnail of Tringali-Cocuzza-AS-2021-Finite-horizon-kinetic-energy-optimization-of-a-redundant]
Text. Filename: Tringali_Cocuzza_AS_2021_Finite_horizon_kinetic_energy_optimization_of_a_redundant.pdf
Final Published Version
License: Creative Commons Attribution 4.0 logo

Download (1MB)| Preview


The minimization of energy consumption is of the utmost importance in space robotics. For redundant manipulators tracking a desired end-effector trajectory, most of the proposed solutions are based on locally optimal inverse kinematics methods. On the one hand, these methods are suitable for real-time implementation; nevertheless, on the other hand, they often provide solutions quite far from the globally optimal one and, moreover, are prone to singularities. In this paper, a novel inverse kinematics method for redundant manipulators is presented, which overcomes the above mentioned issues and is suitable for real-time implementation. The proposed method is based on the optimization of the kinetic energy integral on a limited subset of future end-effector path points, making the manipulator joints to move in the direction of minimum kinetic energy. The proposed method is tested by simulation of a three degrees of freedom (DOF) planar manipulator in a number of test cases, and its performance is compared to the classical pseudoinverse solution and to a global optimal method. The proposed method outperforms the pseudoinverse-based one and proves to be able to avoid singularities. Furthermore, it provides a solution very close to the global optimal one with a much lower computational time, which is compatible for real-time implementation.