Energy-saving trajectory planning for an inverse ball drive robot with Mecanum wheels

被引：0
|
作者：
Keon-woo Jeong
Jangmyung Lee
Min Cheol Lee
机构：
[1] Pusan National University,School of Mechanical Engineering
[2] Pusan National University,Department of Electronics Engineering
来源：
International Journal of Control, Automation and Systems | 2017年 / 15卷
关键词：
Improved A* algorithm; inverse ball drive robot; Mecanum wheels; trajectory planning;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper proposes a new energy-saving trajectory planning method for a robot with an inverse ball driven by Mecanum wheels. The slip due to the structure of the ball drive robot is used to formulate the energy consumption. The measured torque pattern is used as a basis to save energy through a proper path-planning process. To change the path of the robot, an improved path-planning algorithm is used to generate an energy-efficient path. Simulations and experiments were performed to demonstrate the efficiency of the approach.
引用
收藏
页码：752 / 762
页数：10
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