Ryszard Beniak and Tomasz Pyka
Mobile robot energy balance, determination of parameters, controlling, converter system modelling
The paper presents an energy-consumption analysis of a tri-wheel mobile robot with a castor wheel, which has been omitted in the previous research. We identify drive parameters based on a physical model of a tri-wheel wheel robot with a castor wheel that have been determined earlier. We also identify parameters of the robot and the motors. The analysis covers all the key elements in terms of energy of the robot, from the pulse width modulation bridges up to the kinetic energy of the robot during its motion. Furthermore, we analyse the impact of the robot controller on the energy efficiency. When the castor-free wheel is taken into account, the energy efficiency and the accuracy of the motion along the trajectory are improved.
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