LOCAL OPTIMIZATION OF WEIGHTED JOINT TORQUES FOR REDUNDANT ROBOTIC MANIPULATORS

In this article, stable local solutions with global characteristics ar e developed for the weighted joint torque optimization in redundant ma nipulator. Conditions for these symmetric weight matrices are found th at can guarantee that the local optimization of joint torque weighted by these matrices will have the same stability and optimality as the l ocal optimization for the inertia inverse weighted joint torque. The s ymbolic results of the weighted projection operator of Jacobian matrix are also derived. It is also proposed that the weight matrix plays an important role in avoiding instabilities by rotating the null space o f the Jacobian matrix to what the authors termed an effective null spa ce of J.