Control of Hyper-Redundancy Mobile Manipulator with Multi-Elbowsbraced for High Accuracy/Low-Energy Consumption

摘要

To overcome a conflict between required high redundancy for flexible manipulation and heavy weight caused by the high-redundancy structure, we proposed a realistic idea that contacting and bracing motion of intermediate links with environment may solve the conflict. This idea is inspired by human’s handwriting motion with the elbow or wrist contacting to a table. Moreover considering the flexible motion availability of the manipulator, a mobile robot which would give the mobile manipulator an ability to reach where it wanted can be designed as the basement of hyper-redundant manipulator. Thus in this paper we first proposed a dynamical model of hyper-redundant mobile manipulator whose plural elbows of intermediate links are being braced with environment. Then some simulations were done to confirm the effect of our system and the outcome of simulations indicates that our system indeed can improve accuracy and save energy.