Paper:

# Optimal Velocity Function Minimizing Dissipated Energy Considering All Friction in a Position Control System

## Yiting Zhu^{*}, Xuejun Zhu^{**}, Teruyuki Izumi^{*},

and Masashi Kanesaka^{*}

^{*}Department of Electronic and Control Systems Engineering, Shimane University, 1060 Nishi-Kawatsu, Matsue, Simane 690-8504, Japan

^{**}Department of Mechanical Engineering, Ningxia University, 90-5-075 Yinchuan 750021, China

*t*, when the input torque of the gear changes from positive to negative. The influence of the viscous friction upon the optimal zero crossing time

_{c}*t*is examined by simulations. The energy dissipated with the optimal velocity function is compared to the energy dissipated with a conventional trapezoidal velocity function. The results of the simulations and the experiment indicate that the optimal velocity function can greatly reduce the amount of energy dissipated when the moment of inertia is large.

_{c}^{*}*J. Robot. Mechatron.*, Vol.19 No.1, pp. 97-105, 2007.

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