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  4. Vol 10, Issue 2, 2026

Energy-Efficient Six-DOF Manipulator Motion Planning Coupling A-Star Routing with Whale and NSGA-II Optimization

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DOI: 10.23977/acss.2026.100215 | Downloads: 1 | Views: 101

Author(s)

Yuesi Lang 1

Affiliation(s)

1 School of Information and Electronic Technology, Jiamusi University, Jiamusi, China

Corresponding Author

Yuesi Lang

ABSTRACT

Six-DOF manipulators execute tasks through coordinated motion of multiple links and joints, where joint-angle trajectory design governs both positioning accuracy and energy use. Lowering end-effector error while holding energy consumption down is the central difficulty, because the two objectives conflict. This paper builds a four-stage optimization framework for joint-angle trajectory planning on a six-DOF manipulator. A Denavit-Hartenberg kinematic model defines the forward mapping from joint space to end-effector pose, and an error function quantifies deviation from the target path. The Whale Optimization Algorithm first minimizes end-effector error alone and converges to 0.4127 mm, bringing the six joint angles close to their optimal values. A kinematic energy model then supports a bi-objective formulation solved by NSGA-II, which reaches an end-effector error of 0.5841 mm at an energy cost of 6.5042 J. For obstacle-constrained single-object grasping, A-Star search plans the base trajectory while NSGA-II optimizes the joint path, attaining 0.6912 mm error at 7.3168 J. The same routing-plus-optimization scheme extends to multi-object retrieval, where shared base routing recovers three objects at a cumulative 19.74 J. Against a genetic-algorithm baseline under matched population size and iteration count, the proposed method lowers end-effector error by 37.3%.

KEYWORDS

Whale Optimization Algorithm; NSGA-II Multi-Objective Optimization; A-Star Path Planning; Denavit-Hartenberg Kinematic Modeling; Joint-Space Trajectory Optimization; Energy-Efficient End-Effector Control

CITE THIS PAPER

Yuesi Lang. Energy-Efficient Six-DOF Manipulator Motion Planning Coupling A-Star Routing with Whale and NSGA-II Optimization. Advances in Computer, Signals and Systems (2026). Vol. 10, No. 2, 139-146. DOI: http://dx.doi.org/10.23977/acss.2026.100215.

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