A study of manipulator with passive revolute joint |
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| Authors: | Asaji Sato Osamu Sato Nobuya Takahashi Michio Kono |
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| Affiliation: | (1) Department of Mechanical Engineering, Miyakonojo National College of Technology, 473-1 Yoshio, Miyakonojo 885-8567, Japan;(2) Department of Computer Science and Systems Engineering, Faculty of Engineering, University of Miyazaki, Miyazaki, Japan |
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| Abstract: | In this article, equations of motion of a manipulator, whose mechanism has a passive revolute joint, are derived in consideration of the characteristics of driving source. Considering the fi nal condition of displacement and velocity of the passive joint, trajectories of velocity for energy saving are calculated by iterative dynamic programming. And the dynamic characteristics of manipulator control based on the trajectory for energy saving are analyzed theoretically and investigated experimentally. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008 |
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| Keywords: | Manipulator Trajectory Dynamic programming DC motor Minimum energy Passive joint |
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