Trajectory optimization for high-power robots with motor temperature constraints

Wei Xin Tan, Martim Brandão, Kenji Hashimoto, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Modeling heat transfer is an important problem in high-power electrical robots as the increase of motor temperature leads to both lower energy efficiency and the risk of motor damage. Power consumption itself is a strong restriction in these robots especially for battery-powered robots such as those used in disaster-response. In this paper, we propose to reduce power consumption and temperature for robots with high-power DC actuators without cooling systems only through motion planning. We first propose a parametric thermal model for brushless DC motors which accounts for the relationship between internal and external temperature and motor thermal resistances. Then, we introduce temperature variables and a thermal model constraint on a trajectory optimization problem which allows for power consumption minimization or the enforcing of temperature bounds during motion planning. We show that the approach leads to qualitatively different motion compared to typical cost function choices, as well as energy consumption gains of up to 40%.

    Original languageEnglish
    Title of host publicationTowards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings
    PublisherSpringer-Verlag
    Pages3-14
    Number of pages12
    ISBN (Print)9783319967271
    DOIs
    Publication statusPublished - 2018 Jan 1
    Event19th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2018 - Bristol, United Kingdom
    Duration: 2018 Jul 252018 Jul 27

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Volume10965 LNAI
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349

    Other

    Other19th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2018
    CountryUnited Kingdom
    CityBristol
    Period18/7/2518/7/27

    Fingerprint

    Trajectory Optimization
    High Power
    Robot
    Trajectories
    Robots
    Power Consumption
    Thermal Model
    Electric power utilization
    Motion Planning
    Motion planning
    Temperature
    Thermal Resistance
    Brushless DC motors
    DC Motor
    Disaster
    Parametric Model
    Cooling systems
    Energy Efficiency
    Heat resistance
    Cost functions

    Keywords

    • Legged robots
    • Motion planning
    • Temperature
    • Thermal models
    • Trajectory optimization

    ASJC Scopus subject areas

    • Theoretical Computer Science
    • Computer Science(all)

    Cite this

    Tan, W. X., Brandão, M., Hashimoto, K., & Takanishi, A. (2018). Trajectory optimization for high-power robots with motor temperature constraints. In Towards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings (pp. 3-14). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10965 LNAI). Springer-Verlag. https://doi.org/10.1007/978-3-319-96728-8_1

    Trajectory optimization for high-power robots with motor temperature constraints. / Tan, Wei Xin; Brandão, Martim; Hashimoto, Kenji; Takanishi, Atsuo.

    Towards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings. Springer-Verlag, 2018. p. 3-14 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10965 LNAI).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Tan, WX, Brandão, M, Hashimoto, K & Takanishi, A 2018, Trajectory optimization for high-power robots with motor temperature constraints. in Towards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10965 LNAI, Springer-Verlag, pp. 3-14, 19th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2018, Bristol, United Kingdom, 18/7/25. https://doi.org/10.1007/978-3-319-96728-8_1
    Tan WX, Brandão M, Hashimoto K, Takanishi A. Trajectory optimization for high-power robots with motor temperature constraints. In Towards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings. Springer-Verlag. 2018. p. 3-14. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-319-96728-8_1
    Tan, Wei Xin ; Brandão, Martim ; Hashimoto, Kenji ; Takanishi, Atsuo. / Trajectory optimization for high-power robots with motor temperature constraints. Towards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings. Springer-Verlag, 2018. pp. 3-14 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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