dc.contributor.author |
Xie, L |
en |
dc.contributor.author |
Herberger, W |
en |
dc.contributor.author |
Xu, PW |
en |
dc.contributor.author |
Stol, Karl |
en |
dc.coverage.spatial |
Auckland |
en |
dc.date.accessioned |
2016-09-23T04:10:52Z |
en |
dc.date.issued |
2016-04-22 |
en |
dc.identifier.citation |
14th IEEE International Workshop on Advanced Motion Control (AMC16), Auckland, 22 Apr 2016 - 24 Apr 2016. IEEE. 22 Apr 2016 |
en |
dc.identifier.isbn |
978-1-4799-8464-0 |
en |
dc.identifier.uri |
http://hdl.handle.net/2292/30464 |
en |
dc.description.abstract |
The Mecanum wheel, due to its omnidirectional mobility and heavy-duty transporting ability on the ground plane, is widely applied in the industry. However, the Mecanum wheel trades off energy efficiency for maneuverability. This paper proposes a novel energy consumption model of the four-wheel omnidirectional Mecanum mobile robots. The model is built based on a comprehensive understanding of the kinematics, dynamics, and energy flow of the Mecanum mobile robot. The energy consumption model has been mathematically implemented in MATLAB, and experimentally validated on Auckbot, the Mecanum mobile robot, developed in our lab. Simulation and experimental results show that for omnidirectional motion primitives on the ground plane, the energy consumption model has over 98% accuracy. This proposed energy consumption model is essential to the energy-optimal motion planning for the Mecanum mobile robot. |
en |
dc.publisher |
IEEE |
en |
dc.relation.ispartof |
14th IEEE International Workshop on Advanced Motion Control (AMC16) |
en |
dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. |
en |
dc.rights.uri |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
en |
dc.title |
Experimental validation of energy consumption model for the four-wheeled omnidirectional Mecanum robots for energy-optimal motion control |
en |
dc.type |
Conference Item |
en |
dc.identifier.doi |
10.1109/AMC.2016.7496410 |
en |
pubs.finish-date |
2016-04-24 |
en |
pubs.start-date |
2016-04-22 |
en |
dc.rights.accessrights |
http://purl.org/eprint/accessRights/RestrictedAccess |
en |
pubs.subtype |
Conference Paper |
en |
pubs.elements-id |
539535 |
en |
pubs.org-id |
Engineering |
en |
pubs.org-id |
Mechanical Engineering |
en |
dc.identifier.eissn |
1943-6580 |
en |
pubs.record-created-at-source-date |
2016-08-15 |
en |