Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Papers
Examination of Bracing Effects during Bracing-controlled Robot Motions
Daisuke KondoMichiyuki ItoshimaMamoru MinamiAkira Yanou
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Keywords: constraint motion
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2014 Volume 27 Issue 10 Pages 395-404

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Abstract

Considering that humans perform handwriting task with small powers by contacting elbow or wrist on a table, it is reasonable to deem that manipulators can save energy and simultaneously accomplish tasks precisely like humans by bracing intermediate links. First this paper discusses equation of motion of robot under bracing condition, based on the robot’s dynamics with constraint condition including motor dynamics. Then a control method is proposed to control simulateneously bracing force and hand’s trajectory tracking, followed by optimization of the elbow-bracing position that minimizes energy consumption.

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© 2014 The Institute of Systems, Control and Information Engineers
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