Hand-trajectory tracking control with bracing utilization of mobile redundant manipulator

Yuto Washino, Mamoru Minami, Hidemi Kataoka, Takayuki Matsuno, Akira Yanou, Michiyuki Itoshima, Yosuke Kobayashi

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

4 Citations (Scopus)

Abstract

This paper shows effectiveness of bracing for precise and low electrical energy consumption of the end-effector in the case with and without the constraint of the joint of mobile manipulator. Considering that human can do accurate task with less power by bracing elbow on the table, we believe that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper first discuss the motion equation of robot with constraint condition, and robots dynamics including motor's dynamics also. Then the effects of bracing are analyzed and displayed.

Original languageEnglish
Title of host publication2012 Proceedings of SICE Annual Conference, SICE 2012
PublisherSociety of Instrument and Control Engineers (SICE)
Pages219-224
Number of pages6
ISBN (Print)9781467322591
Publication statusPublished - Jan 1 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: Aug 20 2012Aug 23 2012

Publication series

NameProceedings of the SICE Annual Conference

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period8/20/128/23/12

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Keywords

  • Accuracy
  • Constraint condition
  • Electrical consumption

ASJC Scopus subject areas

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

Cite this

Washino, Y., Minami, M., Kataoka, H., Matsuno, T., Yanou, A., Itoshima, M., & Kobayashi, Y. (2012). Hand-trajectory tracking control with bracing utilization of mobile redundant manipulator. In 2012 Proceedings of SICE Annual Conference, SICE 2012 (pp. 219-224). [6318437] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).