Abstract: In literature, several different optimal motion criteria have been proposed, in particular for achieving fast motion while retaining adequate smoothness. Recently, the concept of energy efficiency in automation industry and robotics has become a major topic.
In this work, the problem of finding the optimum compromise between the energy required for the movement of the robot joints, the jerk content and the time taken to perform the planned trajectory is addressed for a generic mechatronic drive-motor-transmission-load system. With respect to the available literature, the energy-related term has been computed taking also into account the possibility to regenerate the braking energy, thus
splitting the acceleration and deceleration phases. Numerical results and comparisons show that the proposed approach can potentially bring important energy savings while maintaining a minimal jerk content.