Sg. Ma, A BALANCING TECHNIQUE TO STABILIZE LOCAL TORQUE OPTIMIZATION SOLUTIONOF REDUNDANT MANIPULATORS, Journal of robotic systems, 13(3), 1996, pp. 177-185
Citations number
10
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Application, Chemistry & Engineering","Robotics & Automatic Control
A technique that stabilizes the existing local torque optimization sol
utions for redundant manipulators is proposed in this article. The tec
hnique is based on a balancing scheme, which balances a solution of jo
int torque-minimization against a solution of joint velocity-minimizat
ion. Introducing the solution of joint velocity-minimization in the ap
proach prevents occurrence of high joint velocities, and thus results
in stable optimal arm motions and guarantees the joint velocities at e
nd of motion to be near zero. Computer simulations were executed on a
three-link planar rotary manipulator to verify the performance of the
proposed local torque optimization technique and to compare its perfor
mance with existing ones for various straight line trajectories. (C) 1
996 John Wiley & Sons, Inc.