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JRM Vol.24 No.1 pp. 115-122
doi: 10.20965/jrm.2012.p0115
(2012)

Paper:

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Proposal of an Energy Saving Control Method for SCARA Robots

Guangqiang Lu, Sadao Kawamura, and Mitunori Uemura

Department of Robotics, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga, Japan

Received:
May 17, 2011
Accepted:
August 16, 2011
Published:
February 20, 2012
Creative Commons License
Keywords:
SCARA robot, energy saving, adaptive control, elastic adaptation, bi-articular muscle
Abstract
The energy-saving method for SCARA robots proposed in this paper utilizes elastic elements effectively in order to save energy for periodic motion. In other words, our method is based on resonance. Mechanically linearized robot dynamics with nondiagonal elastic-matrix elements are considered to save SCARA robot energy significantly. An adaptive elastic method and an adaptive viscosity compensation method are proposed. It is mathematically proven that robot motion controlled by the proposed method converges at the desired periodic motion and elasticity and viscosity parameters converge at ideal values. Several simulation results demonstrate the feasibility and robustness of the proposed method.
Cite this article as:
G. Lu, S. Kawamura, and M. Uemura, “Proposal of an Energy Saving Control Method for SCARA Robots,” J. Robot. Mechatron., Vol.24 No.1, pp. 115-122, 2012.
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