Optimizing Motor Power Consumption of Two-DoF Manipulator using Genetic Algorithm

摘要

Optimum trajectory tracking of 2-DoF manipulator which consumes minimum power is challenging for this research. This paper discusses the optimization power consumption of 2-DoF manipulator using a genetic algorithm. Three different poses have been tested to analyze optimum power consumption. The Simulation result shows that from the three poses that have been tested, pose II has the most power consumption then the other poses because there is only one motor that works and even against the force of gravity.