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.
