Energy optimal motion profile generation for cartesian robot driven by linear tooth belt drives

Abstract

This master thesis focuses on the energy optimal motion profile generation for Cartesian robots driven by linear tooth belt drives. The aim is to study motion trajectory optimizations approaches that give the possibility to minimize energy usage while fulfilling movement targets. This study involves a literature review to identify the techniques energy used for motion profile optimization, system modeling to capture the dynamics of the system, motion profile generation using optimization techniques, simulation and optimization. The outcome of master thesis is optimized motion profiles that can be used to minimize energy usage while fulfilling movement targets. The thesis contributes to the optimization of motion profiles for Cartesian robots driven by linear tooth belt drives, which can improve their performance and energy efficiency in industrial and manufacturing applications.