This paper shows the mapping results of the energy saving effect of redundant actuation in a workspace. In redundant actuation, a system uses more actuators than the degrees of freedom (DoF). This system can distribute the actuating torques, which are concentrated on the normal system's actuators, to the redundant actuators. This distribution can reduce the overall energy loss of the actuators, which can increase the overall energy efficiency of the system. The distribution performance depends on the end-effector position of the system. A 2-DoF normal manipulator and redundant manipulator are designed to analyze the energy loss of each actuation type, depending on the end-effector position in the workspace. The mapping of the energy saving effects of the redundant manipulator is conducted by comparing the energy losses of the two types of manipulators.

Funding Information
* The research program of Kookmin University in Korea, the IGPT Project (N0000005) of the Ministry of Knowledge Economy in Korea
* The Basic Science Research Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Education(2013055323)