A Physics-Based Power Model for Skid-Steered Wheeled Mobile Robots

Dogru, Sedat; Marques, Lino

doi:10.1109/tro.2017.2778278

Cited by 35 publications

(22 citation statements)

References 24 publications

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“…Through the principles of motor science, we can learn that the motor’s mechanical output is transformed into the torque

and rotational speed

of the motor shaft, and they are proportional to the input current

and input voltage

of the motor. For the robot, the output force

of the wheels is proportional to the torque

of the motor, while the rotational speed of the wheel is equal to the product of the torque

of the motor and the diameter of the wheel [ 2 ].

where

and

are proportionality constants, which represent information about the motor’s torque, armature resistance, and other parameters [ 2 ].…”

Section: Energy Modelingmentioning

confidence: 99%

“…For the robot, the output force

of the wheels is proportional to the torque

of the motor, while the rotational speed of the wheel is equal to the product of the torque

of the motor and the diameter of the wheel [ 2 ].

where

and

are proportionality constants, which represent information about the motor’s torque, armature resistance, and other parameters [ 2 ].

where

and

are the coefficients of friction of the robot wheels, their values and variation laws are given in Equations (25) and (26).…”

Section: Energy Modelingmentioning

confidence: 99%

“…The impact on iron consumption is mainly reflected in the impact on the friction force, i.e., on the positive pressure of each wheel, which is defined as

, where

is the positive pressure on the contact surface. For a robot whose center of gravity deviates from the center of gravity, the positive pressure on the contact surface of each of its wheels is different, where the positive pressure on the contact surface can be expressed as:

where

is given by Equation

;

represent the mass of the robot, the gravity constant, and the inclination angle of the terrain;

and

represent the horizontal and vertical distances between each wheel;

and

represent the distance between the center of gravity of the robot and the center of the robot [ 2 ].…”

Section: The Influence Of Various Factors On the Power Consumptionmentioning

confidence: 99%

“…Mecanum wheel robots have the advantage when it comes to stability, high load capacity, simple structure, and flexible movement. Therefore, they are widely used in industrial production [ 2 ]. While Mecanum wheel robots have the advantage of movement flexibility, they also consume more energy than ordinary wheeled robots [ 3 ].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot

Hou

Zhou

Kim³

et al. 2021

Sensors

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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.

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“…Through the principles of motor science, we can learn that the motor’s mechanical output is transformed into the torque

and rotational speed

of the motor shaft, and they are proportional to the input current

and input voltage

of the motor. For the robot, the output force

of the wheels is proportional to the torque

of the motor, while the rotational speed of the wheel is equal to the product of the torque

of the motor and the diameter of the wheel [ 2 ].

where

and

are proportionality constants, which represent information about the motor’s torque, armature resistance, and other parameters [ 2 ].…”

Section: Energy Modelingmentioning

confidence: 99%

“…For the robot, the output force

of the wheels is proportional to the torque

of the motor, while the rotational speed of the wheel is equal to the product of the torque

of the motor and the diameter of the wheel [ 2 ].

where

and

are proportionality constants, which represent information about the motor’s torque, armature resistance, and other parameters [ 2 ].

where

and

are the coefficients of friction of the robot wheels, their values and variation laws are given in Equations (25) and (26).…”

Section: Energy Modelingmentioning

confidence: 99%

“…The impact on iron consumption is mainly reflected in the impact on the friction force, i.e., on the positive pressure of each wheel, which is defined as

, where

where

is given by Equation

;

represent the mass of the robot, the gravity constant, and the inclination angle of the terrain;

and

represent the horizontal and vertical distances between each wheel;

and

represent the distance between the center of gravity of the robot and the center of the robot [ 2 ].…”

Section: The Influence Of Various Factors On the Power Consumptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot

Hou

Zhou

Kim³

et al. 2021

Sensors

View full text Add to dashboard Cite

show abstract

“…In this paper, a goo estimation of power and energy consumption, using a mixed energy model that takes into account the DC motor and the mobile robot dynamic parameters, incorporating in a path planning, is presented. An energy model can be calculated using the mechanical and kinetic energy formulation, based on the mass and velocity of the mobile robot (Liu and Sun, 2014; G. Kladis and Guerra, 2011), or friction estimation (Dogru and Marques, 2016;Dogru and Marques, 2018). However, the energy consumption is not related to the dynamic parameters of the robot as moments of inertia.…”

Section: Introductionmentioning

confidence: 99%

Mixed Energy Model for a Differential Guide Mobile Robot

Morales

Mendoza

2018

2018 23rd International Conference on Methods &Amp; Models in Automation &Amp; Robotics (MMAR)

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Energy consumption is an important issue for mobile robots that carry a limited energy sources, like batteries, for a long period of time. An energy model can relate the kinematic movements of the robot with energy values, giving an estimation of the energy needed for the robot to fulfill a specific task. In this study an energy model is proposed, based on the dynamic parameters of the mobile robot, as well as the motors, given an energy value close to real energy consumption. Mixed energy model is tested with a well-known motor energy model, using the velocities related to straight and curvature paths as input. In the results, a higher energy consumption value is identified by the mixed energy model, especially when the acceleration of the mobile robot increases. Energy models are configured with P3-DX robot mobile parameters.

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