Abstract
Due to their high mobility, mobile robots (MR) are widely used in intelligent manufacturing. Due to the perfect symmetry of the MR of the three-wheeled moving chassis, it can move quickly in a crowded and complex factory environment. Because it is powered by a lithium battery, in order to improve its energy efficiency, we need to ensure that its power consumption is reduced as much as possible in order to avoid frequent battery replacement. The power consumption of MRs has also become an important research focus for researchers. Therefore, a power consumption modeling of the omnidirectional mobility of the three-wheeled omnidirectional mobile robot (TOMR) is proposed in this paper. When TOMR advances heading at different angles, the speed of each wheel changes dramatically. So, the power consumption of robots will also be greatly changed. In this paper, the energy and power consumption of the robot heading in different directions is analyzed and modeled by formulas. This research can be valuable for path planning and control design.
Highlights
Mobile robots (MR) are used to transport components among machines [1] in intelligent manufacturing [2] which is generally crowded and complex
A Three-wheeled omnidirectional mobile robot (TOMR) can move quickly in any direction because of perfect symmetry, without a complicated turning process [3,4], so they are very suitable for intelligent manufacturing working in a narrow and limited space [5]
Because this paper focuses on the power consumption of TOMR in omnidirectional movement, Figure 1b is only a sketch of TOMR, showing the composition of TOMR
Summary
Mobile robots (MR) are used to transport components among machines [1] in intelligent manufacturing [2] which is generally crowded and complex. MR for foruseuse in automation in intelligent manufacturing plants require ability of the energy consumption of MRs comes from four subsystems of MR: Motion system, control system, awareness, self-diagnosis, automatic mobility, information exchange, etc. By establishing the relationship between the power consumption of each subsystem, the optimal algorithm to reduce the energy consumption of the robot can be obtained [14]. Applying it to the Robot Operating System (ROS) programming can effectively reduce the energy consumption of mobile robots by choosing the correct control method and the lowest energy consumption path through the power model to reduce the energy consumption of the robot. This paper provides a model for the power consumption of the omnidirectional wheel and the omnidirectional movement
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