Trajectory optimization for high-power robots with motor temperature constraints

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

    研究成果: Conference contribution

    抜粋

    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%.

    元の言語English
    ホスト出版物のタイトルTowards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings
    出版者Springer-Verlag
    ページ3-14
    ページ数12
    ISBN(印刷物)9783319967271
    DOI
    出版物ステータスPublished - 2018 1 1
    イベント19th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2018 - Bristol, United Kingdom
    継続期間: 2018 7 252018 7 27

    出版物シリーズ

    名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    10965 LNAI
    ISSN(印刷物)0302-9743
    ISSN(電子版)1611-3349

    Other

    Other19th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2018
    United Kingdom
    Bristol
    期間18/7/2518/7/27

      フィンガープリント

    ASJC Scopus subject areas

    • Theoretical Computer Science
    • Computer Science(all)

    これを引用

    Tan, W. X., Brandão, M., Hashimoto, K., & Takanishi, A. (2018). Trajectory optimization for high-power robots with motor temperature constraints. : 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); 巻数 10965 LNAI). Springer-Verlag. https://doi.org/10.1007/978-3-319-96728-8_1