Estimation of the Energy Consumption of an All-Terrain Mobile Manipulator for Operations in Steep Vineyards

A heterogeneous robotic system that can perform various tasks in the steep vineyards of the Mediterranean region was developed and tested as part of the HEKTOR—Heterogeneous Autonomous Robotic System in Viticulture and Mariculture—project. This article describes the design of hardware and an easy-to-use method for evaluating the energy consumption of the system, as well as, indirectly, its deployment readiness level. The heterogeneous robotic system itself consisted of a flying robot—a light autonomous aerial robot (LAAR)—and a ground robot—an all-terrain mobile manipulator (ATMM), composed of an all-terrain mobile robot (ATMR) platform and a seven-degree-of-freedom (DoF) torque-controlled robotic arm. A formal approach to describe the topology and parameters of selected vineyards is presented. It is shown how Google Earth data can be used to make an initial estimation of energy consumption for a selected vineyard. On this basis, estimates of energy consumption were made for the tasks of protective spraying and bud rubbing. The experiments were conducted in two different vineyards, one with a moderate slope and the other with a much steeper slope, to evaluate the proposed estimation method.

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Energy-Saver Mobile Manipulator Based on Numerical Methods

Electronics ◽

10.3390/electronics8101100 ◽

2019 ◽

Vol 8 (10) ◽

pp. 1100 ◽

Cited By ~ 2

Author(s):

Julio Francisco Acosta Núñez ◽

Víctor Hugo Andaluz Ortiz ◽

Guillermo González-de-Rivera Peces ◽

Javier Garrido Salas

Keyword(s):

Energy Consumption ◽

Numerical Methods ◽

Energy Use ◽

Dynamic Control ◽

Robotic System ◽

Experimental Results ◽

Mobile Manipulator ◽

Curvature Analysis ◽

Kinematic And Dynamic Control ◽

Unified Method

The work presents the kinematic and dynamic control of a mobile robotic manipulator system based on numerical methods. The proposal also presents the curvature analysis of a path not parameterized in time, for the optimization of energy consumption. The energy optimization considers two aspects: the velocity of execution in curves and the amount of movements generated by the robotic system. When a curve occurs on the predefined path, the execution velocity is analyzed throughout the system in a unified method to prevent skid effects from affecting the mobile manipulator, while the number of movements is limited by the redundancy presented by the robotic system to optimize energy use. The experimental results are shown to validate the mechanical and electronic construction of the system, the proposed controllers, and the saving of energy consumption.

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Trajectory Optimization of Energy Consumption and Expected Service Life of a Robotic System

10.1109/aim46487.2021.9517539 ◽

2021 ◽

Author(s):

Florian Stuhlenmiller ◽

Debora Clever ◽

Stephan Rinderknecht ◽

Michael Lutter ◽

Jan Peters

Keyword(s):

Energy Consumption ◽

Service Life ◽

Trajectory Optimization ◽

Robotic System

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Modeling and Experimental Design for the On-Orbit Inertial Parameter Identification of Free-Flying Space Robots

Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2005-85242 ◽

2005 ◽

Cited By ~ 12

Author(s):

Roberto Lampariello ◽

Gerhard Hirzinger

Keyword(s):

Energy Consumption ◽

Experimental Design ◽

Parameter Identification ◽

Suitable Model ◽

Space Robots ◽

Full System ◽

End Effector ◽

Dynamic Motion ◽

Inertial Parameters ◽

Flying Robot

A method is proposed for the identification of the inertial parameters of a free-flying robot directly in orbit, using accelerometers. This can serve to improve the path planning and tracking capabilities of the robot, as well as its efficiency in energy consumption. The method is applied to the identification of the base body and of the load on the end-effector, giving emphasis to the experimental design. The problem of the identification of the full system is also addressed in its theoretical aspects. The experience from the Getex Dynamic Motion experiments performed on the ETS-VII satellite have allowed to determine a most suitable model for the identification.

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Coordinated Motion Planning of Legged Mobile Manipulator for Tracking the Given End-Effector’s Trajectory

Volume 4: Dynamics, Vibration, and Control ◽

10.1115/imece2019-11170 ◽

2019 ◽

Author(s):

Kondalarao Bhavanibhatla ◽

Sulthan Suresh-Fazeela ◽

Dilip Kumar Pratihar

Keyword(s):

Motion Planning ◽

Degrees Of Freedom ◽

Robotic System ◽

Simulation Software ◽

Body Motion ◽

Whole Body ◽

Mobile Manipulator ◽

Coordinated Motion ◽

Multibody Dynamic ◽

The Given

Abstract In this paper, a novel algorithm is presented to achieve the coordinated motion planning of a Legged Mobile Manipulator (LMM) for tracking the given end-effector’s trajectory. LMM robotic system can be obtained by mounting a manipulator on the top of a multi-legged platform for achieving the capabilities of both manipulation and mobility. To exploit the advantages of these capabilities, the manipulator should be able to accomplish the task, while the hexapod platform moves simultaneously. In the presented approach, the whole-body motion planning is achieved in two steps. In the first step, the robotic system is assumed to be a mobile manipulator, in which the manipulator has two additional translational degrees of freedom at the base. The redundancy of this robotic system is solved by treating it as an optimization problem. Then, in the second step, the omnidirectional motion of the legged platform is achieved with a combination of straight forward and crab motions. The proposed algorithm is tested through a numerical simulation in MATLAB and then, validated on a virtual model of the robot using multibody dynamic simulation software, MSC ADAMS. Multiple trajectories of the end-effector have been tested and the results show that the proposed algorithm accomplishes the given task successfully by providing a singularity-free whole-body motion.

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PESL: System-Level Estimation of Power-Management Effect on Dynamic Energy Consumption

Electronics ◽

10.3390/electronics9081313 ◽

2020 ◽

Vol 9 (8) ◽

pp. 1313 ◽

Cited By ~ 1

Author(s):

Jaroslav Erdelyi ◽

Dominik Macko ◽

Katarina Jelemenska

Keyword(s):

Energy Consumption ◽

Power Management ◽

Hamming Distance ◽

Management Strategies ◽

Estimation Method ◽

System Level ◽

Estimation Methods ◽

Energy Estimation ◽

Key Aspects ◽

The Impact

Power estimation is one of the key aspects that can help designers create digital circuits more effectively. If a designer is able to estimate circuit parameters during the early stages of development, correct decisions can be made that can significantly shorten the design time. The early design stages are represented by modeling at the system level of abstraction. However, existing system-level power/energy estimation methods are either too complicated, or they do not consider power management when estimating power consumption, meaning they are inaccurate. Therefore, in this paper we propose a method for a more accurate system-level estimation of the dynamic energy consumption by considering the impact of power management. The SystemC description of a power-managed system and the simulation results (in the form of the value change dump (VCD)) are inputs to the estimation method. The proposed method is based on an activity profile using the modified Hamming distance computation. The method is especially useful for the exploration of alternative power-management strategies, and it helps the designer to select the most efficient strategy.

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