Realization of highly energy efficient pick-and-place tasks using resonance-based robot motion control

摘要

In resonance-based robot motion control, the potential energy stored in mechanical elasticity is effectively utilized to generate robot motion; therefore, high energy efficiency is expected when the desired motions are periodic. However, several practical problems arise when resonance-based robot motion control is applied to pick-and-place tasks. This paper proposes methods to solve these problems. First, experiments are conducted to verify the energy efficiency of resonance-based robot motion control when a SCARA-type robot performs a pick-and-place task. Second, as a previous method can only treat two points and increasing of the number pick-and-place points is critically important to conduct actual pick-and-place tasks in factories, methods are proposed to increase the number of the pick and/or place points. Finally, the performance of the proposed method is experimentally investigated.