Experimental study on efficient use of singular configuration in pulling heavy objects with two-link robot arm

Takateru Urakubo, Hiroki Yoshioka, Tomoaki Mashimo, Xianglong Wan

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

7 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4582-4587
Number of pages6
ISBN (Electronic)9781479936854, 9781479936854
DOIs
Publication statusPublished - Sep 22 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period5/31/146/7/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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