High accuracy/Low-energy consumption effects of bracing hyper-redundant manipulator

Geng Wang, Guanghua Chen, Mamoru Minami, Akira Yanou, Mingcong Deng

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

Abstract

Hindrances interfering realistic and practical utilization of hyper-redundant manipulator are thought to be the facts that the higher redundant degrees make the weight of the structure heavier, resulting in a conflict between the required high-redundancy for dexterous manipulation and heavy weight stemming from the high redundancy. To overcome this contradicting realities of hyper-redundant manipulator, we discuss a realizability whether the contacting and bracing motion of intermediate links with environment may simultaneously reduce energy-consumption and raise hand's trajectory tracking accuracy, inspired by human's handwriting motion with the elbow or wrist contacting to a table. We first propose a dynamical model of hyper-redundant manipulator whose plural intermediate links are being braced with environment, second how the contacting can save energy and raise trajectory tracking accuracy. The simulation result shows that less-energy consumption and high trajectory tracking accuracy are achieved by conventional PD controller, compared with non-contacting condition.

Original languageEnglish
Title of host publicationSCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems
Pages950-955
Number of pages6
Publication statusPublished - 2010
EventJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama, Japan
Duration: Dec 8 2010Dec 12 2010

Other

OtherJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010
CountryJapan
CityOkayama
Period12/8/1012/12/10

Fingerprint

Redundant manipulators
Energy utilization
Trajectories
Redundancy
Controllers

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

Cite this

Wang, G., Chen, G., Minami, M., Yanou, A., & Deng, M. (2010). High accuracy/Low-energy consumption effects of bracing hyper-redundant manipulator. In SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems (pp. 950-955)

High accuracy/Low-energy consumption effects of bracing hyper-redundant manipulator. / Wang, Geng; Chen, Guanghua; Minami, Mamoru; Yanou, Akira; Deng, Mingcong.

SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. 2010. p. 950-955.

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

Wang, G, Chen, G, Minami, M, Yanou, A & Deng, M 2010, High accuracy/Low-energy consumption effects of bracing hyper-redundant manipulator. in SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. pp. 950-955, Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan, 12/8/10.
Wang G, Chen G, Minami M, Yanou A, Deng M. High accuracy/Low-energy consumption effects of bracing hyper-redundant manipulator. In SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. 2010. p. 950-955
Wang, Geng ; Chen, Guanghua ; Minami, Mamoru ; Yanou, Akira ; Deng, Mingcong. / High accuracy/Low-energy consumption effects of bracing hyper-redundant manipulator. SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. 2010. pp. 950-955
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