TY - GEN
T1 - Energy efficiency rate optimization of bracing robot
AU - Itoshima, Michiyuki
AU - Toda, Yusuke
AU - Maeba, Tomohide
AU - Kataoka, Hidemi
AU - Minami, Mamoru
AU - Yanou, Akira
PY - 2011/1/1
Y1 - 2011/1/1
N2 - This paper researches on finding better position in motion control of robot with elbow attaching to environment as a bracing, where the robots hand is required to track a desired trajectory and to maximum energy efficiency. Considering that human can do accurate task with small powers by contacting elbow or wrist on a table, we thought that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper discusses the motion equation of robot under bracing condition, based on the robot's dynamics with constraint condition including the motor's dynamics. Then, we evaluate the performance from the two points of view, energy efficiency and trajectory tracking accuracy, the best position of contacting point has been found by simulations.
AB - This paper researches on finding better position in motion control of robot with elbow attaching to environment as a bracing, where the robots hand is required to track a desired trajectory and to maximum energy efficiency. Considering that human can do accurate task with small powers by contacting elbow or wrist on a table, we thought that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper discusses the motion equation of robot under bracing condition, based on the robot's dynamics with constraint condition including the motor's dynamics. Then, we evaluate the performance from the two points of view, energy efficiency and trajectory tracking accuracy, the best position of contacting point has been found by simulations.
KW - Constraint motion
KW - Dynamical model
KW - Energy efficiency
UR - http://www.scopus.com/inward/record.url?scp=81255184287&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=81255184287&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:81255184287
SN - 9784907764395
T3 - Proceedings of the SICE Annual Conference
SP - 1294
EP - 1299
BT - SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PB - Society of Instrument and Control Engineers (SICE)
T2 - 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
Y2 - 13 September 2011 through 18 September 2011
ER -
