2A1-G03 Experiments on Energy Saving Control Methods for Multi-Joint Robots with Elastic Elements
スポンサーリンク
概要
- 論文の詳細を見る
In our previous study, we have proposed an energy saving control method, which designed to generate periodic motions by using actuator energy as less as possible. This paper presents experimental results of the energy saving control methods for multi-joint robots with elastic elements. In order to make clear the effects of the energy saving control method, we develop an experimental setup. Some control methods are performed on the experimental setup and several experimental results are provided. The results validates stiffness adaptation can effectively save energy, and simultaneously using stiffness adaptation and Delay Feedback Control can generate the periodic desired motions by using minimum actuator energy.
- 一般社団法人日本機械学会の論文
- 2009-05-25
著者
-
Kawamura Sadao
Department Of Neurosurgery Kyoto University Medical School
-
Ma Shugen
Department Of Robotics Ritsumeikan University
-
Lu Guangqiang
Department of Robotics Ritsumeikan University
-
Uemura Mitsunori
Department of Robotics Ritsumeikan University
-
Fujita Yuichiro
Department of Robotics Ritsumeikan University
関連論文
- Development of an Autonomous Transfer Machine Using Pneumatic Actuators
- Task-Space Iterative Learning for Redundant Robotic Systems : Existence of a Task-Space Control and Convergence of Learning
- S-B-2. The Location of Sodium in Normal and Edematous Brain Tissue
- Histiocytoid cardiomyopathy with hypotonia in an infant
- A male patient with steroid-dependent nephrotic syndrome for 25 years and obesity-associated focal segmental glomerulosclerosis
- Dynamic redundancy resolution of redundant manipulators with local optimization of a kinematic criterion
- Development of a hyper-redundant multijoint manipulator for maintenance of nuclear reactors
- A force display system using a serial-link structure driven by a parallel-wire mechanism
- A Comparative Study of the Glomerular Involvement in Two Different Strains of Mice Induced by Murine Graft-versus-Host Reaction
- Analysis of creeping locomotion of a snake-like robot
- ELECTRON MICROSCOPIC OBSERVATIONS OF THE MESANGIOLYSIS THE TOXIC EFFECTS OF THE “HABU SNAKE” VENOM ON THE RENAL GLOMERULUS
- 2A1-G03 Experiments on Energy Saving Control Methods for Multi-Joint Robots with Elastic Elements
- 1A1-A21 Energy Saving Motion of Multi-Joint Robots Through Stiffness Adaptation and DFC
- Impact Analysis of a Dual-Crawler-Driven Robot
- Time-optimal control of kinematically redundant manipulators with limit heat characteristics of actuators
- Minimum-time control of coupled tendon-driven manipulators
- Time Optimal Path-Tracking Control of Kinematically Redundant Manipulators
- A Dynamic Approach to Real-Time Obstacle Avoidance Control of Redundant Manipulators
- Time-optimal control of robotic manipulators with limit heat characteristics of the actuator
- Picosecond Carrier Spin Relaxation in In
- A kinetostatic index to measure the task-executing ability of robotic manipulators with limit-driven characteristics of actuators
- Picosecond Carrier Spin Relaxation in In₀.₈Ga₀.₂As/AlAs/AlAs₀.₅₆Sb₀.₄₄ Coupled Double Quantum Wells (Special Issue : Solid State Devices and Materials)
- SOME ASPECTS OF MESANGIAL CELL PROLIFERATION OF THE RENAL GLOMERULUS::CORRELATING FACTORS BETWEEN MESANGIAL CELL PROLIFERATION AND INCREASED PERMEABILITY OF THE GLOMERULAR CAPILLARY WALL
- Stiffness Design of Springs for a Screw Drive In-Pipe Robot to Pass through Curved Pipes and Vertical Straight Pipes
- Development of a Modular Crawler for Tracked Robots
- 2A1-K11 A Novel Snake-like Robot with Multi Gaits(Environmentally-Adapted Mechanism and Control)
- Diagonalization of Arm Kinematics by the Use of Bi-Articular Muscles
- Parallel Wire Driven System for Joint Torque Estimation of Human Leg in Passive Motion