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

  • Lorenzo Scalera
  • Giovanni Carabin
  • Renato Vidoni
  • Alessandro GasparettoEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 84)


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.


Robotics Trajectory planning Dynamic model Energy efficiency 



This work was partially supported by the Free University of Bozen-Bolzano funds within the project TN2803: Mech4SME3: Mechatronics for Smart Maintenance and Energy Efficiency Enhancement. The authors would like to thank L. Favaretto for his help in collecting the experimental data.


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Lorenzo Scalera
    • 1
  • Giovanni Carabin
    • 2
  • Renato Vidoni
    • 2
  • Alessandro Gasparetto
    • 1
    Email author
  1. 1.University of UdineUdineItaly
  2. 2.Free University of Bozen-BolzanoBolzanoItaly

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