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Research Article 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 Early Pub Date: July 9, 2026 Page 925-940 View PDF