Energy efficiency rate optimization of bracing robot

@article{Itoshima2011EnergyER,
  title={Energy efficiency rate optimization of bracing robot},
  author={Michiyuki Itoshima and Yusuke Toda and Tomohide Maeba and Hidemi Kataoka and Mamoru Minami and Akira Yanou},
  journal={SICE Annual Conference 2011},
  year={2011},
  pages={1294-1299}
}
This paper researches on finding better position in motion control of robot with elbow attaching to environment as a bracing, where the robots hand is required to track a desired trajectory and to maximum energy efficiency. Considering that human can do accurate task with small powers by contacting elbow or wrist on a table, we thought that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper discusses the motion equation of robot under… CONTINUE READING