Energy efficiency rate optimization of bracing robot

This paper researches on finding better position in motion control of robot with elbow attaching to environment as a bracing, where the robots hand is required to track a desired trajectory and to maximum energy efficiency. Considering that human can do accurate task with small powers by contacting elbow or wrist on a table, we thought that manipulators can save energy and do a task more precisely like human by bracing itself. Therefore this paper discusses the motion equation of robot under bracing condition, based on the robot´s dynamics with constraint condition including the motor´s dynamics. Then, we evaluate the performance from the two points of view, energy efficiency and trajectory tracking accuracy, the best position of contacting point has been found by simulations.