抄録
Hindrances interfering realistic and practical utilization of hyper-redundant manipulator is thought to be the facts that the higher redundant degrees make the weight of the structure heavier, resulting in a conflict between the required high-redundancy for dexterous manipulation and heavy weight stemming from the high redundancy. To overcome this contradicting realities of hyper-redundant manipulator, we discuss a realizability whether the contacting and bracing motion of intermediate links with environment may simultaneously reduce energy-consumption and raise hand's trajectory tracking accuracy, inspired by human's handwriting motion with the elbow or wrist contacting to a table. We first propose a dynamical model of hyper-redundant manipulator whose plural intermediate links are being braced with environment, second how the contacting can save energy and raise trajectory tracking accuracy. The simulation result shows that lessenergy consumption and high trajectory tracking accuracy are achieved by conventional PD controller, compared with noncontacting manipulator condition.
