Generalized Force-and-Energy Manipulability for design and control of redundant robotic arm

Daiki Mori, Genya Ishigami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

There is a possibility of remaining indication of microorganisms on Martian subsurface and therefore, a robotic arm mounted on an exploration robot is required to dig to a certain depth and collect appropriate sample to be analyzed. However, the environment on the surface of Mars is harsh and most of all, limited power is available from the solar panel. In this paper, FEMI (Force-and-Energy Manipulability Index) is proposed to evaluate a feasible arm configuration for low energy consumption in its soil sampling operation. FEMI is calculated by the combination of an energy manipulability of an arm and an external force generated at an end effector of the arm. The FEMI derives the most feasible configuration on the joint angles of the arm for each sampling point. The usefulness of the FEMI is confirmed through a numerical simulation of a robotic arm. The simulation also presents that the FEMI can be used to obtain mechanical parameters of the arm such as link length and motor power, that are optimally-designed for a certain mission.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1131-1136
Number of pages6
Volume2015-December
ISBN (Print)9781479999941
DOIs
Publication statusPublished - 2015 Dec 11
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: 2015 Sep 282015 Oct 2

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period15/9/2815/10/2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Mori, D., & Ishigami, G. (2015). Generalized Force-and-Energy Manipulability for design and control of redundant robotic arm. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 1131-1136). [7353512] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353512