Minimum-torque trajectory planning of redundant manipulators between two joint configurations

A numerical approach is proposed for minimum-torque trajectory planning (MT TP) of kinematically redundant manipulators between two joint configuration s. Different from the traditional pseudoinverse control scheme, the first s tep of the proposed approach is to use an iterative procedure to transform the MTTP problem into a nonlinear programming (NLP) problem. Then an approa ch to generate a series of feasible solutions for the NLP problem is propos ed. Since a sufficient number of feasible solutions can be easily generated , the optimization process of the NLP problem can be started from different points to search for all the local minima. To show the validity of the pro posed approach, a planar three-link robotic manipulator is included in the simulation example.