A NEW FORMULATION TECHNIQUE FOR LOCAL TORQUE OPTIMIZATION OF REDUNDANT MANIPULATORS

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.