Analysis of time optimization for a robot arm with series elastic joints

In this paper, motion time of a robot arm is shortened by using series elastic joints. We applied time optimal control for a robot arm with series elastic joints in simulation and examined the relationship between elasticity of joints and operating time of a point to point motion in horizontal plane. We found that motion time is shortened because of increase in the sum of the absolute value of motor work and change in the transition of energy due to the elasticity. Simulation results suggest that proper design of elasticity of joints lead to reduction in motion time.