Energy-optimal time allocation of a series of point-to-point motions: Demonstration on a badminton robot

Abstract

We consider the problem of energy-optimal time allocation of a series of point-to-point motions. When performing a series of point-to-point motions, the individual execution time of each motion is, in many cases, free to choose as long as the total execution time of the series of point-to-point motions is not exceeded. This paper presents an algorithm to compute the time allocated to each motion in a series of point-to-point motions in an energy-optimal way. The algorithm is demonstrated on a technology demonstration test facility at Flanders' Mechatronics Technology Centre.