Abstract
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.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
