降下法による時変肘付き位置最適化制御

抄録

Manipulators with high redundancy can variedly change the configurations through the redundancy. But, the weight of redundant manipulator also becomes heavy as the redundancy degree increases, which causes that more energy should be needed to accurately control the manipulator hand position. So, considering human writing motion that human could save energy and write letters correctly by contacting elbow or wrist on a table, we think the redundant manipulator is also able to achieve energy-saving and high-precision simultaneously by the similar motion such as bracing elbows. In previous research, we have proposed control method that redundant manipulator can work high-precision task with less energy consumption by contacting elbow on environments and using constraint force. We propose in this thesis to optimize the elbow contacting position while conducting hand tracking task, showing that energy consumption was reduced drastically by bracing elbow on optimal position.