RELATION BETWEEN GLOBAL VELOCITY AND LOCAL TORQUE OPTIMIZATION OF REDUNDANT MANIPULATORS

In this article, the relation between the global optimization of joint velocity and local optimization of joint torque is investigated. The local minimization of the weighted joint torques can be matched to the global optimization of the corresponding weighted joint velocities wh en the weighted matrices satisfy certain sufficient conditions. A stra ightforward matching is obtained using the local optimization of the i nertia inverse weighted dynamic torque and the global minimization of the kinetic energy. Another easy solution can be found, as will be sho wn later, if the inertia matrix is a constant and gravity is neglected . Based on that, it can be seen why a Cartesian robot, which has a con stant inertia matrix, is always stable. (C) 1994 John Wiley & Sons, In c.