| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2011: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Research Abstract |
In this study, we attempt to establish an energy saving driving method for the underactuated manipulator consisting of one actuated rigid link and one unactuated flexible link. The unactuated joint contains a braking mechanism. We propose a minimum energy trajectory planning method with inducing large residual vibration of the flexible link for the actuated joint when the unactuated joint is fixed by the brake. The rigid link is driven along the obtained optimal trajectory, and then the motion of the unactuated joint can be generated by releasing the brake. We reveal that the proposed method attains the energy saving in comparison of a cycloidal motion from experiments.
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