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

Daisuke Kondo, Michiyuki Itosima, Mamoru Minami, Akira Yanou

Research output: Contribution to conferencePaper

4 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
Pages2732-2737
Number of pages6
Publication statusPublished - Jan 1 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

Keywords

  • Constraint motion

ASJC Scopus subject areas

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

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    Kondo, D., Itosima, M., Minami, M., & Yanou, A. (2013). Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position. 2732-2737. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.