Energy Modeling for a Differential Guide Mobile Robot Using Simscape

Abstract

Very few models have been proposed for estimating the energy consumption of mobile robots using Multi-domain dynamic simulation. In comparison to the classical modeling, using this approach offers many advantages. In this paper, a complete energy model has been developed in Simscape software to illustrate that. The estimated energy consumption is compared with typical motor energy and mixed energy models. This comparison shows that energy losses in gearheads, and by friction must be taken into account to present accurate results.