A NEW METHOD OF PEAK TORQUE REDUCTION WITH REDUNDANT MANIPULATORS

A new method aiming at reducing peak torques is developed in this pape r for kinematically redundant manipulators. The method considers the c ontributions of both velocity and acceleration to the joint torque. In stead of minimizing the joint torque or kinetic energy at the current station, the method always uses the current torque to approach an opti mum velocity of the following station, which, along with joint acceler ation, minimizes the torque of the following station, while at the sam e time keeps the current torque within the limits. Simulations are con ducted for three cases and the results show the clear superiority of t he proposed method over the conventional torque optimization and energ y minimization methods.