Hand-trajectory tracking control with bracing utilization of mobile redundant manipulator

Author

Washino, Yuto ; Minami, Mamoru ; Kataoka, Hidemi ; Matsuno, Takayuki ; Yanou, Akira ; Itoshima, Michiyuki ; Kobayashi, Yosuke

Author_Institution

Grad. Sch. of Natural Sci. & Technol., Okayama Univ., Okayama, Japan

fYear

2012

fDate

20-23 Aug. 2012

Firstpage

219

Lastpage

224

Abstract

This paper shows effectiveness of bracing for precise and low electrical energy consumption of the end-effector in the case with and without the constraint of the joint of mobile manipulator. Considering that human can do accurate task with less power by bracing elbow on the table, we believe that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper first discuss the motion equation of robot with constraint condition, and robots dynamics including motor´s dynamics also. Then the effects of bracing are analyzed and displayed.

Keywords

end effectors; energy conservation; energy consumption; manipulator dynamics; motion control; redundant manipulators; tracking; trajectory control; bracing utilization; constraint condition; electrical energy consumption; end-effector; energy conservation; hand-trajectory tracking control; mobile redundant manipulator; motor dynamics; robot motion equation; robots dynamics; Elbow; Equations; Force; Manipulator dynamics; Torque; Accuracy; Constraint condition; Electrical consumption;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2012 Proceedings of

Conference_Location

Akita

ISSN

pending

Print_ISBN

978-1-4673-2259-1

Type

conf

Filename

6318437