Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot
| Autor: | Ki-Wan Kim, Liang Zhang, Fengyu Zhou, Linfei Hou |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
energy measurements
0209 industrial biotechnology complex environment Computer science 020209 energy 02 engineering and technology Kinematics lcsh:Chemical technology Biochemistry Article Analytical Chemistry law.invention 020901 industrial engineering & automation law Mecanum wheel 0202 electrical engineering electronic engineering information engineering lcsh:TP1-1185 Motion planning Electrical and Electronic Engineering Instrumentation Simulation Energy modeling Mobile robot Energy consumption Mecanum mobile robots Atomic and Molecular Physics and Optics minimum-energy control energy modeling Robot Minimum energy control |
| Zdroj: | Sensors, Vol 21, Iss 1800, p 1800 (2021) Sensors Volume 21 Issue 5 Sensors (Basel, Switzerland) |
| ISSN: | 1424-8220 |
| Popis: | The four-wheeled Mecanum robot is widely used in various industries due to its maneuverability and strong load capacity, which is suitable for performing precise transportation tasks in a narrow environment. While the Mecanum wheel robot has mobility, it also consumes more energy than ordinary robots. The power consumed by the Mecanum wheel mobile robot varies enormously depending on their operating regimes and environments. Therefore, only knowing the working environment of the robot and the accurate power consumption model can we accurately predict the power consumption of the robot. In order to increase the applicable scenarios of energy consumption modeling for Mecanum wheel robots and improve the accuracy of energy consumption modeling, this paper focuses on various factors that affect the energy consumption of the Mecanum wheel robot, such as motor temperature, terrain, the center of gravity position, etc. The model is derived from the kinematic and kinetic model combined with electrical engineering and energy flow principles. The model has been simulated in MATLAB and experimentally validated with the four-wheeled Mecanum robot platform in our lab. Experimental results show that the accuracy of the model reached 95%. The results of energy consumption modeling can help robots save energy by helping them to perform rational path planning and task planning. |
| Databáze: | OpenAIRE |
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