Energy-optimal Motion Planning for a Pole-Climbing Robot
JIANG Li1, GUAN Yisheng2, WANG Jianshen1, ZHOU Xuefeng3, SU Manjia2
1. School of Mechanical and Electrical Engineering, Wuyi University, Jiangmen 529000, China;
2. School of Electro-mechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China;
3. Guangdong Institute of Intelligent Manufacturing, Guangzhou 510075, China
Abstract：Based on the self-designed biped climbing robot, named Climbot, an energy-optimal motion planning method is proposed, which considers the kinematics and dynamics constraints simultaneously. Energy consumption for climbing is firstly described by a mathematical model. Then an energy-optimal motion planning method is proposed which contains the joint trajectory planner at lower level, the path planner at upper level and a searching algorithm for optimal path. The effectiveness of the energy-optimal motion planning method is demonstrated by practical example of Climbot, and detailed analysis of the result is provided as well. The result proves the effectiveness and feasibility of the proposed motion planning method.
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