  Trajectory optimization of a robot manipulator consists of both optimization
of the robot movement as well as optimization of the robot end-effector path.
This paper aims to find optimum movement parameters including movement type,
speed, and acceleration to minimize robot energy. Trajectory optimization by
minimizing the energy would increase the longevity of robotic manipulators. We
utilized the particle swarm optimization method to find the movement parameters
leading to minimum energy consumption. The effectiveness of the proposed method
is demonstrated on different trajectories. Experimental results show that 49%
efficiency was obtained using a UR5 robotic arm.
