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	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

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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

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