TY - GEN
T1 - Experimental study on efficient use of singular configuration in pulling heavy objects with two-link robot arm
AU - Urakubo, Takateru
AU - Yoshioka, Hiroki
AU - Mashimo, Tomoaki
AU - Wan, Xianglong
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - This paper demonstrates that singular configuration of a two-link robot arm is advantageous in doing the task of pulling or lifting up a heavy object with small joint torques. As a result of numerical optimization, the initial configuration that minimizes the joint torques necessary for the task is close to the singular configuration where the arm is stretched out. The singular configuration has the dynamic feature that the joint angle vector can be accelerated in a certain direction almost independently of the mass of the object. Then, the joint torques can generate large kinetic energy efficiently at the singular configuration, and the energy can be utilized to pull or lift up the object. The experimental results show that the dynamic feature is practically useful, even when a feedback control is applied in order to make the object follow a planned trajectory.
AB - This paper demonstrates that singular configuration of a two-link robot arm is advantageous in doing the task of pulling or lifting up a heavy object with small joint torques. As a result of numerical optimization, the initial configuration that minimizes the joint torques necessary for the task is close to the singular configuration where the arm is stretched out. The singular configuration has the dynamic feature that the joint angle vector can be accelerated in a certain direction almost independently of the mass of the object. Then, the joint torques can generate large kinetic energy efficiently at the singular configuration, and the energy can be utilized to pull or lift up the object. The experimental results show that the dynamic feature is practically useful, even when a feedback control is applied in order to make the object follow a planned trajectory.
UR - http://www.scopus.com/inward/record.url?scp=84927933550&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84927933550&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907528
DO - 10.1109/ICRA.2014.6907528
M3 - Conference contribution
AN - SCOPUS:84927933550
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4582
EP - 4587
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -