2A1-G10 Realization Method of High Kinetic Energy utilizing Elastic Joints based on Feedback Excitation Control and Analysis of Equal Energy Hypersurfaces(Dynamics & Design of Robot System)

Abstract

This paper describes a realization method of high kinetic energy utilizing mechanical elasticity within the joint moveable range on a multiple-joint robot. By utilizing mechanical elasticity, a robot can obtain high kinetic energy compared with a rigid robot. In this paper, we propose the "feedback excitation control", which is a control method to realize high kinetic energy utilizing elastic joints. Robot motion has to be kept within the joint moveable ranges. We propose a control method based on the "excitation limit hypersurface" to realize robot motions within the joint moveable ranges.