LOCAL TORQUE MINIMIZATION OF REDUNDANT MANIPULATORS CONSIDERING END-MOTION JOINT VELOCITIES

Local torque minimization has been considered an appealing redundancy resolution approach for redundant manipulators. To minimize the joint torques, the redundancy must be resolved at the acceleration level. Be cause the joint velocities were never considered, however, proposed so lutions have been plagued by performance instabilities due to the buil dup of high joint velocities. As well, the joint velocities at end of motion were never guaranteed to be zero in earlier approaches. In this paper, we introduce a stable local torque minimization technique, whi ch considers the end-motion joint velocities. By making the end-motion joint velocities equal to zero, local torque minimization approach ex hibits global characteristics and generates stable arm motion. Compute r simulations were executed on a three-link planar manipulator to demo nstrate the effectiveness of the proposed technique.