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 |
|---|---|
| Title of host publication | Proceedings of the SICE Annual Conference |
| Pages | 2732-2737 |
| Number of pages | 6 |
| Publication status | Published - 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 | Japan |
| City | Nagoya |
| Period | 9/14/13 → 9/17/13 |
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Keywords
- Constraint motion
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position. / Kondo, Daisuke; Itosima, Michiyuki; Minami, Mamoru; Yano, Akira.
Proceedings of the SICE Annual Conference. 2013. p. 2732-2737.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position
AU - Kondo, Daisuke
AU - Itosima, Michiyuki
AU - Minami, Mamoru
AU - Yano, Akira
PY - 2013
Y1 - 2013
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 - Conference contribution
AN - SCOPUS:84888619820
SP - 2732
EP - 2737
BT - Proceedings of the SICE Annual Conference
ER -