Optimal motion planning of a mobile robot with minimum energy consumption

2011 ◽  
Author(s):  
Shuang Liu ◽  
Dong Sun
Keyword(s):  
Energy Consumption ◽  
Mobile Robot ◽  
Motion Planning ◽  
Minimum Energy ◽  
Optimal Motion ◽  
Minimum Energy Consumption ◽  
Optimal Motion Planning

MOTION PLANNING FOR 6-DOF ASSEMBLY PART POSITIONING AND ALIGNMENT ADJUSTMENT

2013 ◽  
Vol 37 (2) ◽  
pp. 161-183 ◽  
Author(s):  
Jun Hong ◽  
Shao F. Wang ◽  
Emenike Chukwuma ◽  
Jing H. Zhang ◽  
Zhi G. Liu
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Objective Function ◽  
Test Data ◽  
Parallel Mechanism ◽  
Minimum Energy ◽  
Planning Method ◽  
Minimum Energy Consumption ◽  
Redundantly Actuated

In this paper, a 4-PPPS redundantly actuated parallel mechanism and its motion planning method are proposed. The mechanism can be applied to the positioning and alignment of large subassembly in engineering assembly. The optimization of the positioning and alignment trajectory is performed with the minimum energy consumption as the objective function. The system test data shows that the assembly platform and the motion planning method can satisfy the requirements of accuracy, efficiency and stability of the positioning and alignment operations.

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