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

Takatoshi HONDO | Zendy; Ikuo Mizuuchi | Zendy

Open Access

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

Author(s) -

Takatoshi HONDO,

Ikuo Mizuuchi

Publication year - 2013

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2013.p0347

Subject(s) - kinetic energy , hypersurface , robot , excitation , control theory (sociology) , limit (mathematics) , computer science , elastic energy , maximization , elasticity (physics) , classical mechanics , mechanics , physics , mathematics , mathematical analysis , artificial intelligence , mathematical optimization , control (management) , quantum mechanics , thermodynamics

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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