Abstract
In this work, point-to-point (PTP) trajectories based on well-known motion primitives such as trapezoidal profiles have been here addressed and studied with the aim to reduce the overall energy consumed. For this study, a typical linear axis mechatronic system was chosen, which is composed of an electric motor, a transmission system, a toothed belt and a payload. In particular, the design objective is the minimum energy consumption conditions for a system with a regenerative brake. The problem is defined and solved for several operative conditions, either in a closed form or numerically, and the results presented and discussed.