Trajectory optimization for high-power robots with motor temperature constraints

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

*この研究の対応する著者

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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%.

本文言語English
ホスト出版物のタイトルTowards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings
編集者Maria Elena Giannaccini, Manuel Giuliani, Tareq Assaf
出版社Springer Verlag
ページ3-14
ページ数12
ISBN(印刷版)9783319967271
DOI
出版ステータスPublished - 2018
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(印刷版)0302-9743
ISSN(電子版)1611-3349

Other

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

ASJC Scopus subject areas

  • 理論的コンピュータサイエンス
  • コンピュータ サイエンス(全般)

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