Energy efficiency rate optimization of bracing robot

Michiyuki Itoshima, Yusuke Toda, Tomohide Maeba, Hidemi Kataoka, Mamoru Minami, Akira Yanou

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

2 Citations (Scopus)


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.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - Jan 1 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sept 13 2011Sept 18 2011

Publication series

NameProceedings of the SICE Annual Conference


Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011


  • Constraint motion
  • Dynamical model
  • Energy efficiency

ASJC Scopus subject areas

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


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