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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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: This paper proposes a new energy saving method of mechanical systems. In the proposed method, the potential energy stored in mechanical springs is effectively utilized to make periodic motions. In other words, the proposed system is based on resonance. Particularly, we propose an inertia adaptive control method in which a mass is moved in order to change the moment of inertia and change the desired motion cycle. Convergence to desired periodic motions is mathematically proven and performance of the proposed method is demonstrated by several simulation results.