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

Daisuke Kondo, Michiyuki Itosima, Mamoru Minami, Akira Yano

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

3 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages2732-2737
Number of pages6
Publication statusPublished - 2013
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: Sep 14 2013Sep 17 2013

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period9/14/139/17/13

Fingerprint

Manipulators
Equations of motion
Redundancy
Robots
Controllers
Energy utilization

Keywords

  • Constraint motion

ASJC Scopus subject areas

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

Cite this

Kondo, D., Itosima, M., Minami, M., & Yano, A. (2013). Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position. In Proceedings of the SICE Annual Conference (pp. 2732-2737)

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 proceedingConference contribution

Kondo, D, Itosima, M, Minami, M & Yano, A 2013, Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position. in Proceedings of the SICE Annual Conference. pp. 2732-2737, 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan, 9/14/13.
Kondo D, Itosima M, Minami M, Yano A. Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position. In Proceedings of the SICE Annual Conference. 2013. p. 2732-2737
Kondo, Daisuke ; Itosima, Michiyuki ; Minami, Mamoru ; Yano, Akira. / Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position. Proceedings of the SICE Annual Conference. 2013. pp. 2732-2737
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