Modelling and control of hyper-redundancy mobile manipulator bracing multi-elbows for high accuracy / low-energy consumption

This paper presents a practical dynamical model of hyper-redundant mobile manipulator whose plural intermediate links are being braced with environment. To overcome the conflict between the required high-redundancy for dexterous manipulation and heavy weight stemming from the high redundancy, we discuss a realizability whether the contacting and bracing motion of intermediate links with environment may simultaneously prevent from overturning and 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. Finally the simulation result shows that less-energy consumption and high trajectory tracking accuracy are achieved by conventional PD controller, compared with non-contacting and non-basement-moving manipulator condition.