Energy efficiency rate optimization of bracing robot

摘要

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 bracing condition, based on the robot's dynamics with constraint condition including the motor's dynamics. Then, we evaluate the performance from the two points of view, energy efficiency and trajectory tracking accuracy, the best position of contacting point has been found by simulations.