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dc.contributorPuig Ortiz, Joan
dc.contributor.authorFaverjon, Samuel
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Màquines i Motors Tèrmics
dc.description.abstractThe study focuses on energy consumption of two-wheeled nonholonomic mobile robot systems along a 2D trajectory. The consumption will be minimized creating a smooth path that passes by fixed points using interpolation ; the velocity and acceleration profiles will be monitored all along the path using apposite parameters at each waypoint. Three main issues will be carried out : the definition of the trajectory with all its compromises; the calculation of the robot energy consumption, taking into account many external forces; the choice of the right type of optimization process. The chosen solutions will be applied in a Matlab program using functions from “Robotics System Toolbox” and “Optimization Toolbox”
dc.publisherUniversitat Politècnica de Catalunya
dc.subjectÀrees temàtiques de la UPC::Desenvolupament humà i sostenible::Desenvolupament sostenible::Energia i sostenibilitat
dc.subject.lcshEnergy consumption
dc.titleEstudio de eficiencia energética: Análisis del comportamiento de los motores que accionan la plataforma por lo que se refiere a su consumo y estudio de las estrategias de control que permitan optimizar dicho consumo
dc.typeTutored research work
dc.subject.lemacEnergia -- Consum
dc.rights.accessOpen Access
dc.audience.mediatorEscola Tècnica Superior d'Enginyeria Industrial de Barcelona
dc.audience.degreeMOBILITAT INCOMING
dc.contributor.covenanteeCDEI-DM - Centre de Disseny d'Equips Industrials-Dinàmica de Màquines

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