Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis

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This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric energy used by the actuators while taking into account the geometric, kinematic and dynamic constraints. The proposed methodology is applied to the Orthoglide 3-axis, a three-degree-of-freedom translational parallel kinematic machine (PKM), as an illustrative example.