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Open AccessFeature PaperArticle

Energy-Saver Mobile Manipulator Based on Numerical Methods

1
Universidad de las Fuerzas Armadas–ESPE, Sangolquí 171103, Ecuador
2
Escuela Politécnica Superior, Universidad Autónoma de Madrid, 28049 Madrid, Spain
*
Author to whom correspondence should be addressed.
Electronics 2019, 8(10), 1100; https://doi.org/10.3390/electronics8101100
Received: 1 September 2019 / Revised: 23 September 2019 / Accepted: 25 September 2019 / Published: 29 September 2019
(This article belongs to the Special Issue Motion Planning and Control for Robotics)
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. View Full-Text
Keywords: mobile robots; mobile manipulators; energy optimization; controller based on numerical methods; radius of curvature analysis mobile robots; mobile manipulators; energy optimization; controller based on numerical methods; radius of curvature analysis
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MDPI and ACS Style

Acosta Núñez, J.F.; Andaluz Ortiz, V.H.; González-de-Rivera Peces, G.; Garrido Salas, J. Energy-Saver Mobile Manipulator Based on Numerical Methods. Electronics 2019, 8, 1100.

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