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

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

Research output: Contribution to conferencePaperpeer-review

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
Pages950-955
Number of pages6
Publication statusPublished - Dec 1 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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

Fingerprint Dive into the research topics of 'High accuracy/Low-energy consumption effects of bracing hyper-redundant manipulator'. Together they form a unique fingerprint.

Cite this