摘要：AbstractWe present an approach to reduce the energy consumption of electromechanical drives by applying energy optimal trajectories under the presence of friction. The trajectories are calculated using Pontryagin’s maximum principle and adapted online in order to minimize the energy consumption. We finally validate our results in simulations and thereby demonstrate an energy savings potential of 5% compared to utilizing energy optimal trajectories without the incorporation of friction.
关键词：KeywordsTrajectory PlanningDrivesFrictionBelt AxesMotion Control Systems
