Modelling and control of hyper-redundancy mobile manipulator bracing multi-elbows for high accuracy / low-energy consumption

Geng Wang, Mamoru Minami

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

4 Citations (Scopus)

Abstract

This paper presents a practical dynamical model of hyper-redundant mobile manipulator whose plural intermediate links are being braced with environment. To overcome the conflict between the required high-redundancy for dexterous manipulation and heavy weight stemming from the high redundancy, we discuss a realizability whether the contacting and bracing motion of intermediate links with environment may simultaneously prevent from overturning and 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. Finally the simulation result shows that less-energy consumption and high trajectory tracking accuracy are achieved by conventional PD controller, compared with non-contacting and non-basement-moving manipulator condition.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages2371-2376
Number of pages6
Publication statusPublished - 2010
EventSICE Annual Conference 2010, SICE 2010 - Taipei, Taiwan, Province of China
Duration: Aug 18 2010Aug 21 2010

Other

OtherSICE Annual Conference 2010, SICE 2010
CountryTaiwan, Province of China
CityTaipei
Period8/18/108/21/10

Fingerprint

Manipulators
Redundancy
Energy utilization
Trajectories
Controllers

ASJC Scopus subject areas

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

Cite this

Modelling and control of hyper-redundancy mobile manipulator bracing multi-elbows for high accuracy / low-energy consumption. / Wang, Geng; Minami, Mamoru.

Proceedings of the SICE Annual Conference. 2010. p. 2371-2376 5602307.

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

Wang, G & Minami, M 2010, Modelling and control of hyper-redundancy mobile manipulator bracing multi-elbows for high accuracy / low-energy consumption. in Proceedings of the SICE Annual Conference., 5602307, pp. 2371-2376, SICE Annual Conference 2010, SICE 2010, Taipei, Taiwan, Province of China, 8/18/10.
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