NDLI: Stabilization constraint method for torque optimization of a redundant manipulator

Content Provider	IEEE Xplore Digital Library
Author	Ick-Chan Shim Yong-San Yoon
Copyright Year	1997
Description	Author affiliation: Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea (Ick-Chan Shim)
Abstract	The minimization of the joint torques based on the /spl infin/-norm is proposed for the dynamic control of a kinematically redundant manipulator. The /spl infin/-norm is preferred to the 2-norm in the minimization of the joint torques since the torques of the actuators are limited by their maximum values in magnitudes. To obtain the minimum /spl infin/-norm torque solution, we devised a new method that uses the acceleration polyhedron representing the end-effector's acceleration capability. Usually the torque minimization has the instability problem for the long trajectories of the end-effector. To suppress this instability problem, an inequality constraint, named the stabilization constraint, is developed from geometrical relations between the desired end-effector acceleration and the acceleration polyhedron. The minimization of the /spl infin/-norm of the joint torques subject to the stabilization constraint is shown to improve the performances through the simulations of a 3-link planar redundant manipulator.
Starting Page	2403
Ending Page	2408
File Size	551259
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.619321
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Constraint optimization Manipulator dynamics Acceleration Actuators Minimization methods Jacobian matrices Mechanical engineering Torque control Robots Least squares methods
Content Type	Text
Resource Type	Article

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