Finite-horizon kinetic energy optimization of a redundant space manipulator

Alessandro Tringali, Silvio Cocuzza

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)
17 Downloads (Pure)


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.
Original languageEnglish
Article number2346
Number of pages15
JournalApplied Sciences
Issue number5
Publication statusPublished - 6 Mar 2021


  • robotics
  • inverse kinematics
  • redundant manipulator
  • energy minimization


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