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Energy-saving Trajectory Planning for an Inverse Ball Drive Robot with Mecanum Wheels

Keon-woo Jeong, Jangmyung Lee, and Min Cheol Lee*
International Journal of Control, Automation, and Systems, vol. 15, no. 2, pp.752-762, 2017

Abstract : "This paper proposes a new energy-saving trajectory planning method for a robot with an inverse ball driven by Mecanum wheels. The slip due to the structure of the ball drive robot is used to formulate the energy consumption. The measured torque pattern is used as a basis to save energy through a proper path-planning process. To change the path of the robot, an improved path-planning algorithm is used to generate an energy-efficient path. Simulations and experiments were performed to demonstrate the efficiency of the approach."

Keyword : Improved A* algorithm, inverse ball drive robot, Mecanum wheels, trajectory planning. 10.1007/s12555-015-0259-9

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