ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-G03
会議情報
2A1-G03 Experiments on Energy Saving Control Methods for Multi-Joint Robots with Elastic Elements
Guangqiang LuMitsunori UemuraYuichiro FujitaSadao KawamuraShugen Ma
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会議録・要旨集 フリー

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抄録
In our previous study, we have proposed an energy saving control method, which designed to generate periodic motions by using actuator energy as less as possible. This paper presents experimental results of the energy saving control methods for multi-joint robots with elastic elements. In order to make clear the effects of the energy saving control method, we develop an experimental setup. Some control methods are performed on the experimental setup and several experimental results are provided. The results validates stiffness adaptation can effectively save energy, and simultaneously using stiffness adaptation and Delay Feedback Control can generate the periodic desired motions by using minimum actuator energy.
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© 2009 一般社団法人 日本機械学会
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