JRM Vol.25 No.2 pp. 347-354
doi: 10.20965/jrm.2013.p0347


Kinetic Energy Maximization on Elastic Joint Robots Based on Feedback Excitation Control and Excitation Limit Hypersurface

Takatoshi Hondo and Ikuo Mizuuchi

Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan

October 19, 2012
February 13, 2013
April 20, 2013
elastic joint, kinetic energy maximization, feedback excitation control, excitation limit hypersurface

This paper describes amethod of realizing high kinetic energy utilizing mechanical elasticity within the joint limit ranges of multiple-joint robots. By utilizing series elastic elements, a robot obtains high kinetic energy compared with a rigid robot. In this paper, we propose feedback excitation control that realizes high kinetic energy utilizing series elastic joints. Robot motion has to be kept within the joint limit range. We propose a control method based on an excitation limit hypersurface to realize robot motion within the joint limit range. The feasibility of the method was evaluated in experiments. We performed a ball throwing task as an application of the method.

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Last updated on Aug. 18, 2017