TY - GEN
T1 - Efficient pulling motion of a two-link robot arm near singular configuration
AU - Urakubo, Takateru
AU - Mashimo, Tomoaki
AU - Kanade, Takeo
PY - 2010
Y1 - 2010
N2 - This paper discusses the advantages of singular configurations of a two-link robot arm in achieving tasks of pulling or lifting a heavy object. Optimal base location and arm motion for minimizing the joint torques are examined by numerical simulations, and the base location where the robot arm is near a singular configuration at the start time of task is optimal. It is shown analytically that joint torques can supply energy to the system composed of the robot arm and the object efficiently near singular configurations of the arm. The energy supply rates at two singular configurations are derived based on the equations of motion of the system.
AB - This paper discusses the advantages of singular configurations of a two-link robot arm in achieving tasks of pulling or lifting a heavy object. Optimal base location and arm motion for minimizing the joint torques are examined by numerical simulations, and the base location where the robot arm is near a singular configuration at the start time of task is optimal. It is shown analytically that joint torques can supply energy to the system composed of the robot arm and the object efficiently near singular configurations of the arm. The energy supply rates at two singular configurations are derived based on the equations of motion of the system.
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U2 - 10.1109/IROS.2010.5649698
DO - 10.1109/IROS.2010.5649698
M3 - Conference contribution
AN - SCOPUS:78651515216
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 1372
EP - 1377
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -