Use of Optimal quasi- velocity Trajectories

The paper presents optimization of the generalized velocity components (GVC) in order to obtain the energy efficient profile. The GVC arise from decomposition of the system mass matrix and the corresponding equations of motion are first-order. The obtained optimal quantities show some properties of the system that are not observable if the system is described using the second-order differential equations of motion. As a result, an insight into the system dynamics can be given and nonlinearity evaluation and reduction is possible. The presented approach was tested analytically and in simulation on a 2 DOF planar mechanical system.