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Local torque minimization for redundant manipulators: a correct formulation

Published online by Cambridge University Press:  09 March 2009

Shugen Ma  and
Dragomir N. Nenchev
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Summary

Local torque minimization for redundant manipulators has been considered by using a redundancy resolution approach. Since its initial formulation, however, proposed solutions have been plagued by performance instabilities. Till now, the reason was not clear. In this paper it is shown that the instability problem occurred because of incorrect formulation. A correct formulation is proposed, which is used to analyze the reason for instability. Special attention is paid to joint acceleration terms at the selfmotion manifold. This helps explaining the recent formulation of a stable scheme based on local joint velocity minimization in terms of torque. The results obtained. are related to dynamic redundancy resolution in general.

Keywords

Redundant manipulatorsLocal torque minimizationSelfmotion manifold
Type
Article
Information
Robotica , Volume 14 , Issue 2 , March 1996 , pp. 235 - 239
Copyright
Copyright © Cambridge University Press 1996

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