Analysis of bracing-constraint dynamics with energy-efficient for elbow-bracing manipulator

Xiang Li, Mamoru Minami, Han Han, Yanhui Wei

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The configuration of elbow-bracing is built by imitating human's handwriting behavior that human can do accurate task with less consumption energy by bracing the elbow or hand on the task. In this paper, first, the motion equation of the elbow-bracing manipulator under constrained condition has been derived. Second, as the consumption energy is calculated based on the voltage and current of the motor, the equation of motion of the motor has been proposed. Then, a control method based on the constraint dynamics of the elbow-bracing manipulator is proposed to simultaneously control constraint force and hand's trajectory and elbow-bracing position in work space. Moreover, we focus on the energy-efficient of the elbow-bracing manipulator, and analysis the factors which have a great effect on the consumption energy, i.e. elbow-bracing position, constraint force. Finally, a simulation experiment for 4-link elbow-bracing manipulator has been conducted to reveal the effectiveness of energy-efficient for the elbow-bracing manipulator and the influence of the above two factors to the energy-efficient.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2552-2557
Number of pages6
ISBN (Electronic)9781509023943
DOIs
Publication statusPublished - Sep 1 2016
Event13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 - Harbin, Heilongjiang, China
Duration: Aug 7 2016Aug 10 2016

Other

Other13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
CountryChina
CityHarbin, Heilongjiang
Period8/7/168/10/16

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Keywords

  • Constraint dynamics
  • constraint force control
  • Elbow-bracing manipulator
  • Energy-efficient

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Computer Science Applications
  • Software

Cite this

Li, X., Minami, M., Han, H., & Wei, Y. (2016). Analysis of bracing-constraint dynamics with energy-efficient for elbow-bracing manipulator. In 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 (pp. 2552-2557). [7558968] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2016.7558968