Modeling of a Lithium-Ion Battery for Enhanced Power Management in Robotics Domain
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abstract
The aspect of energy constraint and simulation
of battery behavior in robotic simulators has been partially
neglected by most of the available simulation software and is
offered unlimited energy instead. This lack does not reflect the
importance of batteries in robots, as the battery is one of the
most crucial elements. With the implementation of an adequate
battery simulation, it is possible to perform a study on the energy
requirements of the robot through these simulators. Thus, this
paper describes a Lithium-ion battery model implemented on
SimTwo robotic simulator software, in which various physical
parameters such as internal resistance and capacity are modeled
to mimic real-world battery behavior. The experiments and
comparisons with a real robot have assessed the viability of
this model. This battery simulation is intended as an additional
tool for the roboticists, scientific community, researchers, and
engineers to implement energy constraints in the early stages of
robot design, architecture, or control.
The authors are grateful to the Foundation for Science
and Technology (FCT, Portugal) for financial support
through national funds FCT/MCTES (PIDDAC) to CeDRI
(UIDB/05757/2020 and UIDP/05757/2020) and SusTEC
(LA/P/0007 /2021). The project that gave rise to these
results received the support of a fellowship from ”la
Caixa” Foundation (ID 100010434). The fellowship code is
LCF/BQ/DI20/11780028.
