Energy-Efficient Trajectory Optimization for a 4-DOF Serial Manipulator Using Adaptive Dolphin-Eagle Algorithm with Joint-Aware Energy Weighting

Ahmet Saygın Öğülmüş; Mehmet İrfan Gedik; Fatih Baykal; Burak Yenipınar

doi:10.54287/gujsa.1962818

Energy-Efficient Trajectory Optimization for a 4-DOF Serial Manipulator Using Adaptive Dolphin-Eagle Algorithm with Joint-Aware Energy Weighting

Abstract

Energy efficiency in industrial robotic manipulators is vital for reducing operational costs and carbon footprints. This paper presents the Adaptive Dolphin-Eagle Algorithm (ADEA), a hybrid metaheuristic for energy-optimal trajectory planning of a 4-DOF serial manipulator. ADEA combines dolphin echolocation-based global exploration with eagle Lévy-flight exploitation. It is augmented by Joint-Aware Energy Weighting (JAEW), a physics-informed mechanism that amplifies search steps for high-activation joints, embedding dynamic load structures into the optimization without altering the fitness function. Based on a CAD-accurate robot model under full Newton-Euler inverse dynamics, trajectories are parameterized using quintic polynomial segments through two intermediate waypoints to minimize mechanical energy. Comparative evaluations against Particle Swarm Optimization (PSO), Whale Optimization Algorithm (WOA), and a JAEW-augmented Starfish Optimization (SFO) baseline across 30 independent runs demonstrate that ADEA achieves the lowest mean energy consumption. Significant performance gains are confirmed by Wilcoxon signed-rank tests (p < 0.05). Unlike baseline methods that plateau mid-run, ADEA exhibits sustained convergence, offering a robust framework for energy-aware motion planning in industrial tasks.

Keywords

References

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Details

Primary Language

English

Subjects

Simulation, Modelling, and Programming of Mechatronics Systems, Control Engineering, Mechatronics and Robotics (Other)

Journal Section

Research Article

Authors

Ahmet Saygın Öğülmüş ^*
0000-0001-6498-4318
Türkiye

Mehmet İrfan Gedik
0000-0003-2836-2735
Türkiye

Fatih Baykal
0000-0002-2842-584X
Türkiye

Burak Yenipınar
0000-0002-5997-944X
Türkiye

Early Pub Date

July 9, 2026

Publication Date

-

Submission Date

June 2, 2026

Acceptance Date

June 30, 2026

Published in Issue

Year 2026 Number: Advanced Online Publication

DOI

https://doi.org/10.54287/gujsa.1962818

IZ

https://izlik.org/JA27BA52CL

Cite

RIS / Bibtex

APA

Öğülmüş, A. S., Gedik, M. İ., Baykal, F., & Yenipınar, B. (2026). Energy-Efficient Trajectory Optimization for a 4-DOF Serial Manipulator Using Adaptive Dolphin-Eagle Algorithm with Joint-Aware Energy Weighting. Gazi University Journal of Science Part A: Engineering and Innovation, Advanced Online Publication. https://doi.org/10.54287/gujsa.1962818

AMA

1.Öğülmüş AS, Gedik Mİ, Baykal F, Yenipınar B. Energy-Efficient Trajectory Optimization for a 4-DOF Serial Manipulator Using Adaptive Dolphin-Eagle Algorithm with Joint-Aware Energy Weighting. GU J Sci, Part A. 2026;(Advanced Online Publication). doi:10.54287/gujsa.1962818

Chicago

Öğülmüş, Ahmet Saygın, Mehmet İrfan Gedik, Fatih Baykal, and Burak Yenipınar. 2026. “Energy-Efficient Trajectory Optimization for a 4-DOF Serial Manipulator Using Adaptive Dolphin-Eagle Algorithm With Joint-Aware Energy Weighting”. Gazi University Journal of Science Part A: Engineering and Innovation, no. Advanced Online Publication. https://doi.org/10.54287/gujsa.1962818.

EndNote

Öğülmüş AS, Gedik Mİ, Baykal F, Yenipınar B (July 1, 2026) Energy-Efficient Trajectory Optimization for a 4-DOF Serial Manipulator Using Adaptive Dolphin-Eagle Algorithm with Joint-Aware Energy Weighting. Gazi University Journal of Science Part A: Engineering and Innovation Advanced Online Publication

IEEE

[1]A. S. Öğülmüş, M. İ. Gedik, F. Baykal, and B. Yenipınar, “Energy-Efficient Trajectory Optimization for a 4-DOF Serial Manipulator Using Adaptive Dolphin-Eagle Algorithm with Joint-Aware Energy Weighting”, GU J Sci, Part A, no. Advanced Online Publication, July 2026, doi: 10.54287/gujsa.1962818.

ISNAD

Öğülmüş, Ahmet Saygın - Gedik, Mehmet İrfan - Baykal, Fatih - Yenipınar, Burak. “Energy-Efficient Trajectory Optimization for a 4-DOF Serial Manipulator Using Adaptive Dolphin-Eagle Algorithm With Joint-Aware Energy Weighting”. Gazi University Journal of Science Part A: Engineering and Innovation. Advanced Online Publication (July 1, 2026). https://doi.org/10.54287/gujsa.1962818.

JAMA

1.Öğülmüş AS, Gedik Mİ, Baykal F, Yenipınar B. Energy-Efficient Trajectory Optimization for a 4-DOF Serial Manipulator Using Adaptive Dolphin-Eagle Algorithm with Joint-Aware Energy Weighting. GU J Sci, Part A. 2026. doi:10.54287/gujsa.1962818.

MLA

Öğülmüş, Ahmet Saygın, et al. “Energy-Efficient Trajectory Optimization for a 4-DOF Serial Manipulator Using Adaptive Dolphin-Eagle Algorithm With Joint-Aware Energy Weighting”. Gazi University Journal of Science Part A: Engineering and Innovation, no. Advanced Online Publication, July 2026, doi:10.54287/gujsa.1962818.

Vancouver

1.Ahmet Saygın Öğülmüş, Mehmet İrfan Gedik, Fatih Baykal, Burak Yenipınar. Energy-Efficient Trajectory Optimization for a 4-DOF Serial Manipulator Using Adaptive Dolphin-Eagle Algorithm with Joint-Aware Energy Weighting. GU J Sci, Part A. 2026 Jul. 1;(Advanced Online Publication). doi:10.54287/gujsa.1962818