The energy-saving method for SCARA robots proposed in this paper utilizes elastic elements effectively in order to save energy for periodic motion. In other words, our method is based on resonance. Mechanically linearized robot dynamics with nondiagonal elastic-matrix elements are considered to save SCARA robot energy significantly. An adaptive elastic method and an adaptive viscosity compensation method are proposed. It is mathematically proven that robot motion controlled by the proposed method converges at the desired periodic motion and elasticity and viscosity parameters converge at ideal values. Several simulation results demonstrate the feasibility and robustness of the proposed method.
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Lu et al. (2012) studied this question.
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