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Paper WeC02.4

Schmit, Nicolas (Tokyo Institute of Technology), Okada, Masafumi (Tokyo Institute of Technology)

Simultaneous Optimization of Robot Trajectory and Nonlinear Springs to Minimize Actuator Torque

Scheduled for presentation during the Regular Session "Compliance Devices and Control" (WeC02), Wednesday, May 16, 2012, 15:15−15:30, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 12, 2017

Keywords Compliant Joint/Mechanism, Mechanism Design of Manipulators

Abstract

In this paper, we consider a robot with nonlinear springs located at each joints and acting in parallel with the actuators. We propose a method to simultaneously design the trajectory of the robot and the force/torque profiles of the springs for an optimal compensation of the gravity and inertial forces. First, we express the trajectory and force/torque profiles of the springs as a Hermite interpolation of a finite number of nodes, then we derive a closed-form solution of the optimal spring design as a function of the trajectory. As a consequence, the initial optimization problem is reduced to a trajectory optimization problem, solved with a numeric algorithm. We show an example of optimal design for a 3-Degree Of Freedom (DOF) serial manipulator. Finally, we show that the nonlinear springs calculated for this manipulator can be technically realized by a non-circular cable spool mechanism.

 

 

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