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Energy Modeling and Experimental Validation of Four-Wheel Mecanum Mobile Robots for Energy-Optimal Motion Control

by Liang Zhang 1, Jongwon Kim 2 and Jie Sun 1,*
1
School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai 264209, China
2
Department of Electromechanical Convergence Engineering, Korea University of Technology and Education, Cheonan 31253, Korea
*
Author to whom correspondence should be addressed.
Symmetry 2019, 11(11), 1372; https://doi.org/10.3390/sym11111372
Received: 26 September 2019 / Revised: 16 October 2019 / Accepted: 24 October 2019 / Published: 5 November 2019
Four-wheel Mecanum mobile robots (FWMRs) are widely used in transportation because of their omnidirectional mobility. However, the FWMR trades off energy efficiency for flexibility. To efficiently predict the energy consumption of the robot movement processes, this paper proposes a power consumption model for the omnidirectional movement of an FWMR. A power consumption model is of great significance for reducing the power consumption, motion control, and path planning of robots. However, FWMRs are highly maneuverable, meaning their control is complicated and their energy modeling is extremely complex. The speed, distance, path, and power consumption of the robot can vary greatly depending on the control method. This energy model was mathematically implemented in MATLAB and validated by our laboratory’s Mecanum wheel robot. The prediction accuracy of the model was over 95% through simulation and experimental verification. View Full-Text
Keywords: symmetrical structure; mobile robots; robot energy modeling; robot energy consumption reduction symmetrical structure; mobile robots; robot energy modeling; robot energy consumption reduction
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Zhang, L.; Kim, J.; Sun, J. Energy Modeling and Experimental Validation of Four-Wheel Mecanum Mobile Robots for Energy-Optimal Motion Control. Symmetry 2019, 11, 1372.

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