A BALANCING TECHNIQUE TO STABILIZE LOCAL TORQUE OPTIMIZATION SOLUTIONOF REDUNDANT MANIPULATORS

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.