Hand-trajectory tracking control with bracing utilization of mobile redundant manipulator

Yuto Washino; Mamoru Minami; Hidemi Kataoka; Takayuki Matsuno; Akira Yanou; Michiyuki Itoshima; Yosuke Kobayashi

Hand-trajectory tracking control with bracing utilization of mobile redundant manipulator

Yuto Washino, Mamoru Minami, Hidemi Kataoka, Takayuki Matsuno, Akira Yanou, Michiyuki Itoshima, Yosuke Kobayashi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper shows effectiveness of bracing for precise and low electrical energy consumption of the end-effector in the case with and without the constraint of the joint of mobile manipulator. Considering that human can do accurate task with less power by bracing elbow on the table, we believe that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper first discuss the motion equation of robot with constraint condition, and robots dynamics including motor's dynamics also. Then the effects of bracing are analyzed and displayed.

Original language	English
Title of host publication	2012 Proceedings of SICE Annual Conference, SICE 2012
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	219-224
Number of pages	6
ISBN (Print)	9781467322591
Publication status	Published - Jan 1 2012
Event	2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan Duration: Aug 20 2012 → Aug 23 2012

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
Country/Territory	Japan
City	Akita
Period	8/20/12 → 8/23/12

Keywords

Accuracy
Constraint condition
Electrical consumption

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Cite this

Washino, Y., Minami, M., Kataoka, H., Matsuno, T., Yanou, A., Itoshima, M., & Kobayashi, Y. (2012). Hand-trajectory tracking control with bracing utilization of mobile redundant manipulator. In 2012 Proceedings of SICE Annual Conference, SICE 2012 (pp. 219-224). [6318437] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).

Hand-trajectory tracking control with bracing utilization of mobile redundant manipulator. / Washino, Yuto; Minami, Mamoru; Kataoka, Hidemi et al.
2012 Proceedings of SICE Annual Conference, SICE 2012. Society of Instrument and Control Engineers (SICE), 2012. p. 219-224 6318437 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Washino, Y, Minami, M, Kataoka, H, Matsuno, T, Yanou, A, Itoshima, M & Kobayashi, Y 2012, Hand-trajectory tracking control with bracing utilization of mobile redundant manipulator. in 2012 Proceedings of SICE Annual Conference, SICE 2012., 6318437, Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), pp. 219-224, 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012, Akita, Japan, 8/20/12.

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abstract = "This paper shows effectiveness of bracing for precise and low electrical energy consumption of the end-effector in the case with and without the constraint of the joint of mobile manipulator. Considering that human can do accurate task with less power by bracing elbow on the table, we believe that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper first discuss the motion equation of robot with constraint condition, and robots dynamics including motor's dynamics also. Then the effects of bracing are analyzed and displayed.",

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AU - Washino, Yuto

AU - Minami, Mamoru

AU - Kataoka, Hidemi

AU - Matsuno, Takayuki

AU - Yanou, Akira

AU - Itoshima, Michiyuki

AU - Kobayashi, Yosuke

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N2 - This paper shows effectiveness of bracing for precise and low electrical energy consumption of the end-effector in the case with and without the constraint of the joint of mobile manipulator. Considering that human can do accurate task with less power by bracing elbow on the table, we believe that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper first discuss the motion equation of robot with constraint condition, and robots dynamics including motor's dynamics also. Then the effects of bracing are analyzed and displayed.

AB - This paper shows effectiveness of bracing for precise and low electrical energy consumption of the end-effector in the case with and without the constraint of the joint of mobile manipulator. Considering that human can do accurate task with less power by bracing elbow on the table, we believe that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper first discuss the motion equation of robot with constraint condition, and robots dynamics including motor's dynamics also. Then the effects of bracing are analyzed and displayed.

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KW - Constraint condition

KW - Electrical consumption

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Hand-trajectory tracking control with bracing utilization of mobile redundant manipulator

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

UN SDGs

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