A path planning method with minimum energy consumption for multi-joint mobile robot

2014 ◽  
Author(s):  
Xu Zhao ◽  
Zhong Su ◽  
Lihua Dou
Keyword(s):  
Energy Consumption ◽  
Path Planning ◽  
Mobile Robot ◽  
Minimum Energy ◽  
Planning Method ◽  
Minimum Energy Consumption

MOTION PLANNING FOR 6-DOF ASSEMBLY PART POSITIONING AND ALIGNMENT ADJUSTMENT

2013 ◽  
Vol 37 (2) ◽  
pp. 161-183 ◽  
Author(s):  
Jun Hong ◽  
Shao F. Wang ◽  
Emenike Chukwuma ◽  
Jing H. Zhang ◽  
Zhi G. Liu
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Objective Function ◽  
Test Data ◽  
Parallel Mechanism ◽  
Minimum Energy ◽  
Planning Method ◽  
Minimum Energy Consumption ◽  
Redundantly Actuated

In this paper, a 4-PPPS redundantly actuated parallel mechanism and its motion planning method are proposed. The mechanism can be applied to the positioning and alignment of large subassembly in engineering assembly. The optimization of the positioning and alignment trajectory is performed with the minimum energy consumption as the objective function. The system test data shows that the assembly platform and the motion planning method can satisfy the requirements of accuracy, efficiency and stability of the positioning and alignment operations.

Geometric Work of Manipulators and Path Planning Based on Minimum Energy Consumption

1992 ◽  
Vol 114 (3) ◽  
pp. 414-421 ◽  
Author(s):  
Li-Shan Chou ◽  
Shin-Min Song
Keyword(s):  
Energy Consumption ◽  
Path Planning ◽  
Minimum Energy ◽  
Dynamic Programming Method ◽  
Continuous Path ◽  
End Effector ◽  
Minimum Energy Consumption ◽  
Special Geometry ◽  
Pick And Place ◽  
Regular Open

The energy efficiency of the robots of today’s generation is in general very poor due to the existence of “geometric work.” The geometric work is geometry dependent and can be eliminate by adopting a special geometry which decouples the gravitational motion from the horizontal motions. Instead of adopting a special geometry, this paper studies the geometric work of a regular open-chained manipulator and applies it to the path planning for minimum energy consumption. For a given manipulator geometry and end-effector position, the zones of velocity with zero geometric work are determined analytically. A map which describes these zones of zero geometric work at various positions in workspace is then constructed for path planning with zero geometric work. The path planning for minimum energy consumption is generated by the dynamic programming method and the results are compared with the map of zero geometric work. It is found that the end-effector tends to move within the zones of zero geometric work as much as possible. If the end-effector has to cross the boundary of a zone at some point, it again moves within the zones after crossing the boundary. The presented method can also be used to arrange the pick and place positions for minimum travel energy consumption. That is, the two positions should be selected so that a continuous path which connects them with zero geometric work and with monotonously ascending or descending features is available.

scholarly journals Optimization of Energy-Efficient Speed Profile for Electrified Vehicles

2018 ◽  
Author(s):  
Hadi Abbas ◽  
Youngki Kim ◽  
Jason B. Siegel ◽  
Denise M. Rizzo
Keyword(s):  
Energy Consumption ◽  
Energy Efficient ◽  
Minimum Energy ◽  
Efficient Operation ◽  
Operating Modes ◽  
Minimum Energy Consumption ◽  
System A ◽  
Trip Time ◽  
Route Information

This paper presents a study of energy-efficient operation of vehicles with electrified powertrains leveraging route information, such as road grades, to adjust the speed trajectory. First, Pontryagin’s Maximum Principle (PMP) is applied to derive necessary conditions and to determine the possible operating modes. The analysis shows that only 5 modes are required to achieve minimum energy consumption; full propulsion, cruising, coasting, full regeneration, and full regeneration with conventional braking. The minimum energy consumption problem is reformulated and solved in the distance domain using Dynamic Programming to optimize speed profiles. A case study is shown for a light weight military robot including road grades. For this system, a tradeoff between energy consumption and trip time was found. The optimal cycle uses 20% less energy for the same trip duration, or could reduce the travel time by 14% with the same energy consumption compared to the baseline operation.

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