抄録
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.
| 本文言語 | English |
|---|---|
| ページ | 2732-2737 |
| ページ数 | 6 |
| 出版ステータス | Published - 1月 1 2013 |
| イベント | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya 継続期間: 9月 14 2013 → 9月 17 2013 |
Other
| Other | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 |
|---|---|
| 国/地域 | Japan |
| City | Nagoya |
| Period | 9/14/13 → 9/17/13 |
ASJC Scopus subject areas
- 制御およびシステム工学
- コンピュータ サイエンスの応用
- 電子工学および電気工学
UN SDG
この成果は、次の持続可能な開発目標に貢献しています
