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

Wenji Jia, Guilin Yang, Chongchong Wang, Chi Zhang, Chinyin Chen and Zaojun Fang
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Wenji Jia: College of Materials Sciences and Opto-Electronic Technology, University of Chinese Academy of Sciences, Beijing 100049, 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

Energies, 2019, vol. 12, issue 23, 1-19

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.

Keywords: omnidirectional mobile robot; torque distribution; mobile; energy consumption model (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2019
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