Minimum-Energy Trajectory Planning for Industrial Robotic Applications: Analytical Model and Experimental Results

Abstract

In this paper an analytical model and experimental results for minimum-energy trajectories applied to robotic axes are presented. The dynamic and electro-mechanical models of a linear axis are implemented and applied for the planning of optimal point-to-point trajectories, using trapezoidal and cycloidal motion profiles. A challenging (but realistic, in industrial environments) scenario is chosen, namely a linear axis of a Cartesian manipulator built in the 1990’s. Experimental tests are carried out measuring the energy consumption directly from the drive unit. Despite the limitations of the mechanical and power measurement systems, the results show a trend in accordance with the numerical predictions, demonstrating the feasibility of the approach in enhancing the energetic performance of the robotic system, even in worst-case conditions.