Sg. Ma, A NEW FORMULATION TECHNIQUE FOR LOCAL TORQUE OPTIMIZATION OF REDUNDANT MANIPULATORS, IEEE transactions on industrial electronics, 43(4), 1996, pp. 462-468
A new formulation technique called ''torque-based formulation'' for th
e local torque optimization of redundant manipulators was introduced i
n this paper, The formulation based on joint torques makes the pseudoi
nverse and recursive techniques possible to local torque optimization.
The local torque optimization approaches that are formulated on the b
asis of the proposed formulation technique are simple in formulation a
nd are efficient in computational cost, Equivalence between the propos
ed solutions for local torque optimization and the conventional ones w
as also proven analytically.