Proposal of bracing controller utilizing constraint redundancy and optimization of bracing position

Considering that humans perform handwriting task with small powers by contacting elbow or wrist on a table, we thought that manipulators can save energy and accomplish simultaneously tasks more precisely like human by bracing intermediate links. First this paper discusses equation of motion equation of robot under bracing condition, based on the robot´s dynamics with constraint condition including the motor´s dynamics. Then, the best elbow-bracing position that minimize the energy consumption is examined simulation on condition that the manipulator has a load on the hand.