Top > JRM > Proposal of an Energy Saving Control Method for SCARA Robots

single-rb.php

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

Paper:

Views over last 60 days: 901

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.
Data files:
References
  1. [1] T. Ohde, “Advanced motion control of direct drive actuators,” J. of Robotics and Mechatronics, Fuji Technology Press, Vol.1, No.4, pp. 322-322, 1989.
  2. [2] H. Asada and K. Y. Toumi, “Analysis and design of semi-directdrive robot arms,” American Control Conf. 1983, pp. 757-766, 1983.
  3. [3] T. McGeer, “Passive dynamic walking,” Int. J. of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.
  4. [4] S. Wolf and G. Hirzinger, “A new variable stiffness design: matching requirements of the next robot generation,” IEEE Int. Conf. on Robotics and Automation 2008, pp. 1741-1746, 2008.
  5. [5] R. Ham, T. Sugar, B. Vanderborght, K. Hollander, and D. Lefeber, “Compliant actuator designs,” Robotics & Automation Magazine, IEEE, pp. 81-94, 2009.
  6. [6] T. Morita and S. Sugano, “Design and development of a new robot joint using a mechanical impedance adjuster,” IEEE Int. Conf. on Robotics and Automation 1995, Nagoya, Japan, pp. 2469-2475, May 1995.
  7. [7] G. Pratt and M. Williamson, “Series elastics actuators,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 1995, pp. 399-406, 1995.
  8. [8] J. Yamaguchi, D. Nishino, and A. Takanishi, “Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints,” IEEE Int. Conf. on Robotics and Automation 1998, pp. 2002-2029, 1998.
  9. [9] S. A. Migliore, E. A. Brown, and S. P. DeWeerth, “Biologically inspired joint stiffness control,” IEEE Int. Conf. on Robotics and Automation 2005, pp. 4508-4513, 2005.
  10. [10] W. Sebastian and H. Gerd, “A new variable stiffness design: matching requirements of the next robot generation,” IEEE Int. Conf. on Robotics and Automation 2008, pp. 1741-1746, 2008.
  11. [11] T. Giovanni, S. Riccardo, and B. Antonio, “Design and control of a variable stiffness actuator for safe and fast physical human/robot,” IEEE Int. Conf. on Robotics and Automation 2005, pp. 526-531, 2005.
  12. [12] C. Junho, P. Sunchul, L. Woosub, and K. Sung-Chul, “Design of a robot joint with variable stiffness,” IEEE Int. Conf. on Robotics and Automation 2008, pp. 1760-1765, 2008.
  13. [13] J. Choi, S. Hong, W. Lee, and S. Kang, “A variable stiffness joint using leaf springs for robot manipulators,” IEEE Int. Conf. on Robotics and Automation 2009, pp. 4363-4368, 2009.
  14. [14] H. Dongjun, S. Y. Hyun, P. Jungwan, and S. Youngbo, “Variable stiffness mechanism for human-friendly robots,” Mechanism and Machine Theory, Vol.45, pp. 880-897, 2010.
  15. [15] C. S. H. Junho, L. Woosub, K. Sungchul, and K. Munsang, “A robot joint with variable stiffness using leaf springs,” IEEE Trans. on Robotics, Vol.27, No.2, April 2011.
  16. [16] M. Uemura, K. Kanaoka, and S. Kawamura, “A new mechanical structure for adjustable stiffness devices with lightweight and small size,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2010, pp. 2364-2370, 2010.
  17. [17] M. Uemura, K. Kanaoka, and S. Kawamura, “A new control method utilizing stiffness adjustment of mechanical elastic element for serial link systems,” IEEE Int. Conf. on Robotics and Automation 2007, pp. 1437-1442, 2007.
  18. [18] M. Uemura and S. Kawamura, “An energy saving control method of robot motions based on adaptive stiffness optimization,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2008, pp. 551-557, 2008.
  19. [19] M. Uemura, G. Lu, S. Kawamura, and S. Ma, “Passive periodic motions of multi-joint robots by stiffness adaptation and DFC for energy saving,” Int. Conf. on SICE 2008, pp. 2854-2858, 2008.
  20. [20] G. J. van Ingen Shenau, M. F. Bobbert, and R. H. Rozendal, “The unique action of bi-articular muscles in complex movements,” J. of Anatomy, Vol.155, pp. 1-5, 1987.
  21. [21] M. Kumamoto, T. Oshima, and T. Yamamoto, “Control properties induced by existence of antagonistic pairs of bi-articular muscles – Mechanical engineering model analyses,” Human Movement Science, Vol.13, pp. 611-634, 1994.
  22. [22] M. Kumamoto, T. shima, and T. Fujikawa, “Bi-articular muscle as a principle keyword for biomimetic motor link system,” Microtechnologies in Medicine & Biology 2nd Annual Int. IEEE-EMB Special Topic Conf. on, pp. 346-351, 2002.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Copyright© 2012 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Oct. 01, 2024