Modelling and trajectory tracking control of Elbow Bracing Manipulators for Energy-efficiency

Han Han, Yanhui Wei, Shuai Li, Xiufen Ye, Xiang Li, Mamoru Minami

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

1 Citation (Scopus)


This paper presents the constraint dynamic modelling of a six-link elbow-bracing manipulator. This system is kinematically redundant when it is asked to perform spatial trajectory tracking tasks. Hence the extra degrees of freedom (DOFs) can be used to assign additional motion such as constraint forces control without violating end-effect's functions, which can improve the manipulator's performance such as minimizing energy requirements. Since the control of the constraint forces will not affect the end-effect's position, the hybrid force and position control method is proposed. The control scheme consists of two terms: constraint forces control with the incorporation of proportional (p) controller and trajectory tracking control. In addition, the motion equations of motors are incorporated into the constraint dynamics of the system. So that the energy consumption can be calculated by integrating the product of the voltage and current. This study is based on our previous works, which can achieve the control of three constraint forces. Finally, simulation experiments along with comparative studies of previous works such as: with no constraint force and one constraint force are conducted. The results show that the proposed method achieves prior energy-efficient performance and tracking accuracy.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9781728148786
Publication statusPublished - Oct 2019
Event45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
Duration: Oct 14 2019Oct 17 2019

Publication series

NameIECON Proceedings (Industrial Electronics Conference)


Conference45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019


  • Manipulator
  • constraint dynamics
  • energy efficient
  • hybrid control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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