Energy efficiency rate optimization of bracing robot

Michiyuki Itoshima, Yusuke Toda, Tomohide Maeba, Hidemi Kataoka, Mamoru Minami, Akira Yanou

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

1 Citation (Scopus)

Abstract

This paper researches on finding better position in motion control of robot with elbow attaching to environment as a bracing, where the robots hand is required to track a desired trajectory and to maximum energy efficiency. Considering that human can do accurate task with small powers by contacting elbow or wrist on a table, we thought that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper discusses the motion equation of robot under bracing condition, based on the robot's dynamics with constraint condition including the motor's dynamics. Then, we evaluate the performance from the two points of view, energy efficiency and trajectory tracking accuracy, the best position of contacting point has been found by simulations.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages1294-1299
Number of pages6
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period9/13/119/18/11

Fingerprint

Energy efficiency
Robots
Trajectories
Motion control
End effectors
Manipulators
Equations of motion

Keywords

  • Constraint motion
  • Dynamical model
  • Energy efficiency

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Itoshima, M., Toda, Y., Maeba, T., Kataoka, H., Minami, M., & Yanou, A. (2011). Energy efficiency rate optimization of bracing robot. In Proceedings of the SICE Annual Conference (pp. 1294-1299). [6060534]

Energy efficiency rate optimization of bracing robot. / Itoshima, Michiyuki; Toda, Yusuke; Maeba, Tomohide; Kataoka, Hidemi; Minami, Mamoru; Yanou, Akira.

Proceedings of the SICE Annual Conference. 2011. p. 1294-1299 6060534.

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

Itoshima, M, Toda, Y, Maeba, T, Kataoka, H, Minami, M & Yanou, A 2011, Energy efficiency rate optimization of bracing robot. in Proceedings of the SICE Annual Conference., 6060534, pp. 1294-1299, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 9/13/11.
Itoshima M, Toda Y, Maeba T, Kataoka H, Minami M, Yanou A. Energy efficiency rate optimization of bracing robot. In Proceedings of the SICE Annual Conference. 2011. p. 1294-1299. 6060534
Itoshima, Michiyuki ; Toda, Yusuke ; Maeba, Tomohide ; Kataoka, Hidemi ; Minami, Mamoru ; Yanou, Akira. / Energy efficiency rate optimization of bracing robot. Proceedings of the SICE Annual Conference. 2011. pp. 1294-1299
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