TY - GEN
T1 - Efficient Energy Supply from Joint Torques near Singular Configurations for a Two-link Robot Arm with Joint Friction
AU - Urakubo, Takateru
AU - Wan, Xianglong
AU - Mashimo, Tomoaki
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/1
Y1 - 2020/1
N2 - Kinematic singularity of a robot arm can be dynamically advantageous in achieving tasks with the arm. In this paper, we examine dynamic features of singular configurations by theoretical analysis and numerical simulations, for a two-link robot arm that performs dynamic tasks such as lifting heavy objects and opening heavy doors. If no friction torque is applied to the joints, the mechanical energy necessary for the tasks can be generated from joint torques at a high rate near a singular configuration. Even when the joints suffer from viscous friction, the singular configuration has an advantage in supplying energy for a highly dynamic task whose duration is short. As the duration of task becomes longer, the arm configuration that can supply the energy at the highest rate becomes away from the singular configuration.
AB - Kinematic singularity of a robot arm can be dynamically advantageous in achieving tasks with the arm. In this paper, we examine dynamic features of singular configurations by theoretical analysis and numerical simulations, for a two-link robot arm that performs dynamic tasks such as lifting heavy objects and opening heavy doors. If no friction torque is applied to the joints, the mechanical energy necessary for the tasks can be generated from joint torques at a high rate near a singular configuration. Even when the joints suffer from viscous friction, the singular configuration has an advantage in supplying energy for a highly dynamic task whose duration is short. As the duration of task becomes longer, the arm configuration that can supply the energy at the highest rate becomes away from the singular configuration.
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U2 - 10.1109/SII46433.2020.9026178
DO - 10.1109/SII46433.2020.9026178
M3 - Conference contribution
AN - SCOPUS:85082613029
T3 - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
SP - 1193
EP - 1198
BT - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/SICE International Symposium on System Integration, SII 2020
Y2 - 12 January 2020 through 15 January 2020
ER -