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 SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Pages2371-2376
Number of pages6
ISBN (Print)9784907764364
Publication statusPublished - Jan 1 2010

Publication series

NameProceedings of the SICE Annual Conference

ASJC Scopus subject areas

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

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    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 SICE Annual Conference 2010, SICE 2010 - Final Program and Papers (pp. 2371-2376). [5602307] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).