An Energy Optimal Endpoint Trajectory for Docking Mechanism On Mobile Robots

For a mobile robot driven by electric system which are mostly powered by limited-capacity lithium batteries, the optimal usage of energy plays an important role in its working process. To accurately analyse the energy consumption of the robot during its motion, it is necessary to model the dynamics and kinematics of the robot and analyse the model parameters in depth. Considering mechanical power and motor's copper loss, this paper identified an energy optimal endpoint trajectory by the comparative study between traditional reference trajectory and approximate Fourier expansion with the help of computer simulation. The result shows that the optimal trajectory could reduce the energy consumption effectively.