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Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels

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  • Wenji Jia

    (College of Materials Sciences and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, China
    Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China)

  • Guilin Yang

    (Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China)

  • Chongchong Wang

    (Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China)

  • Chi Zhang

    (Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China)

  • Chinyin Chen

    (Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China)

  • Zaojun Fang

    (Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China)

Abstract

A mobile robot with no less than two powered caster wheels (PCWs) has the ability to perform omnidirectional motions and belongs to a redundantly actuated system. Redundant actuation will bring the issue of non-uniqueness of actuating torque distribution, and inappropriate choices of torque distribution schemes will lead to unexpected large required actuating torques and extra energy consumption. This paper proposes a new torque distribution optimization approach based on a gradient projection method (GPM) for the omnidirectional mobile robot (OMR) with direct drive PCWs. It can significantly reduce the maximal required actuating torque and the energy consumption of the system. The modular kinematic and dynamic modeling method is presented first, which is suitable for an arbitrary number of employed PCWs, as well as their install positions in the chassis. The detailed energy consumption model of the OMR, including output energy consumption and electrical energy loss, is formulated through experimental testing. The effectiveness of the proposed algorithms is validated by simulation examples. Lastly, the computational efficiency of the method is verified.

Suggested Citation

  • Wenji Jia & Guilin Yang & Chongchong Wang & Chi Zhang & Chinyin Chen & Zaojun Fang, 2019. "Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels," Energies, MDPI, vol. 12(23), pages 1-19, November.
    • Handle: RePEc:gam:jeners:v:12:y:2019:i:23:p:4417-:d:289216
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    References listed on IDEAS

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    1. Linfei Hou & Liang Zhang & Jongwon Kim, 2018. "Energy Modeling and Power Measurement for Mobile Robots," Energies, MDPI, vol. 12(1), pages 1-15, December.
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