Efficient Oscillation Method with Nonlinear Oscillator for Large Force Generation of Manipulator Exploiting Oscillatory Motion

Effect of an oscillatory motion of a manipulator on large force generation is investigated in this paper. Two methods for oscillating a manipulator are examined using simulations. One of the methods simply produces a harmonic wave as a command for a manipulator. When the frequency of the harmonic wave is appropriately adjusted, the manipulator produces a larger force than a manipulator driven by a traditional command. However, this method needs a big power motor for joint driving. To reduce the power of motor, the other method uses a nonlinear oscillator that has a frequency entrainment property. The entrainment property effects reduction of necessary power to oscillate a manipulator.