Analysis of bracing-constraint dynamics with energy-efficient for elbow-bracing manipulator

The configuration of elbow-bracing is built by imitating human's handwriting behavior that human can do accurate task with less consumption energy by bracing the elbow or hand on the task. In this paper, first, the motion equation of the elbow-bracing manipulator under constrained condition has been derived. Second, as the consumption energy is calculated based on the voltage and current of the motor, the equation of motion of the motor has been proposed. Then, a control method based on the constraint dynamics of the elbow-bracing manipulator is proposed to simultaneously control constraint force and hand's trajectory and elbow-bracing position in work space. Moreover, we focus on the energy-efficient of the elbow-bracing manipulator, and analysis the factors which have a great effect on the consumption energy, i.e. elbow-bracing position, constraint force. Finally, a simulation experiment for 4-link elbow-bracing manipulator has been conducted to reveal the effectiveness of energy-efficient for the elbow-bracing manipulator and the influence of the above two factors to the energy-efficient.