Energy optimal point-to-point motion profile optimization

Position-controlled systems driving repetitive tasks are of significant importance in industrial machinery. The electric actuators used these responsible for a large part the global energy consumption, indicating that major savings can be made this field. In context, motion profile optimization is very cost-effective solution as it allows more energy-efficient machines without additional hardware investments or adaptions. particular, mono-actuated mechanisms with position-dependent system properties have received considerable attention literature. However, current state-of-the-art methods often use unbounded design parameters to describe profile. This both increases computational complexity and hampers search optimum. paper, Chebyshev polynomials Moreover, exact bounds on derived. seriously reduces limits space, allowing application optimizer such genetic algorithm. Experiments validate added value chosen approach. study, found consumption reduced by 62.9% compared standard reference