Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position

Daisuke Kondo; Michiyuki Itosima; Mamoru Minami; Akira Yanou

Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position

Daisuke Kondo, Michiyuki Itosima, Mamoru Minami, Akira Yanou

Research output: Contribution to conference › Paper › peer-review

Abstract

Considering that humans perform handwriting task with small powers by contacting elbow or wrist on a table, we thought that manipulators can save energy and accomplish simultaneously tasks more precisely like human by bracing intermediate links. First this paper discusses equation of motion equation of robot under bracing condition, based on the robot's dynamics with constraint condition including the motor's dynamics. Then, the best elbow-bracing position that minimize the energy consumption is examined simulation on condition that the manipulator has a load on the hand.

Original language	English
Pages	2732-2737
Number of pages	6
Publication status	Published - Jan 1 2013
Event	2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan Duration: Sep 14 2013 → Sep 17 2013

Other

Other	2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
Country/Territory	Japan
City	Nagoya
Period	9/14/13 → 9/17/13

Keywords

Constraint motion

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Cite this

Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position. / Kondo, Daisuke; Itosima, Michiyuki; Minami, Mamoru; Yanou, Akira.

2013. 2732-2737 Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.

Research output: Contribution to conference › Paper › peer-review

@conference{cca2e1c5451f48a7aa0ddd21690d34d3,

title = "Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position",

abstract = "Considering that humans perform handwriting task with small powers by contacting elbow or wrist on a table, we thought that manipulators can save energy and accomplish simultaneously tasks more precisely like human by bracing intermediate links. First this paper discusses equation of motion equation of robot under bracing condition, based on the robot's dynamics with constraint condition including the motor's dynamics. Then, the best elbow-bracing position that minimize the energy consumption is examined simulation on condition that the manipulator has a load on the hand.",

keywords = "Constraint motion",

author = "Daisuke Kondo and Michiyuki Itosima and Mamoru Minami and Akira Yanou",

year = "2013",

month = jan,

day = "1",

language = "English",

pages = "2732--2737",

note = "2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 ; Conference date: 14-09-2013 Through 17-09-2013",

}

TY - CONF

T1 - Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position

AU - Kondo, Daisuke

AU - Itosima, Michiyuki

AU - Minami, Mamoru

AU - Yanou, Akira

PY - 2013/1/1

Y1 - 2013/1/1

N2 - Considering that humans perform handwriting task with small powers by contacting elbow or wrist on a table, we thought that manipulators can save energy and accomplish simultaneously tasks more precisely like human by bracing intermediate links. First this paper discusses equation of motion equation of robot under bracing condition, based on the robot's dynamics with constraint condition including the motor's dynamics. Then, the best elbow-bracing position that minimize the energy consumption is examined simulation on condition that the manipulator has a load on the hand.

AB - Considering that humans perform handwriting task with small powers by contacting elbow or wrist on a table, we thought that manipulators can save energy and accomplish simultaneously tasks more precisely like human by bracing intermediate links. First this paper discusses equation of motion equation of robot under bracing condition, based on the robot's dynamics with constraint condition including the motor's dynamics. Then, the best elbow-bracing position that minimize the energy consumption is examined simulation on condition that the manipulator has a load on the hand.

KW - Constraint motion

UR - http://www.scopus.com/inward/record.url?scp=84888619820&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84888619820&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:84888619820

SP - 2732

EP - 2737

T2 - 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013

Y2 - 14 September 2013 through 17 September 2013

ER -

Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position

Abstract

Other

Keywords

ASJC Scopus subject areas

UN SDGs

Other files and links

Fingerprint

Cite this