NDLI: Local torque minimization of redundant manipulators with considering end-motion joint velocities

Content Provider	IEEE Xplore Digital Library
Author	Shugen Ma
Copyright Year	1996
Description	Author affiliation: Dept. of Syst. Eng., Ibaraki Univ., Japan (Shugen Ma)
Abstract	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. Since the joint velocities were never considered, the proposed solutions have been plagued by performance instabilities due to the buildup of high joint velocities. Besides, the joint velocities at end of motion were never guaranteed to be zero in the former-proposed approaches. This is also a flaw of the former approaches, because the zero end-motion joint velocities are necessary in practical use. In this paper, we introduce a stable local torque minimization technique, with consideration of the end-motion joint velocities. By making the end-motion joint velocities to zero, the local torque minimization approach exhibits global characteristics and generates a stable arm motion. Computer simulations were executed on a three-link planar manipulator to demonstrate the effectiveness of the proposed local torque minimization technique.
Starting Page	1477
Ending Page	1482
File Size	651774
Page Count	6
File Format	PDF
ISBN	0780332806
ISSN	1062922X
DOI	10.1109/ICSMC.1996.571362
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-10-14
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Systems engineering and theory Character generation Computer simulation Acceleration Inverse problems Lagrangian functions Motion control
Content Type	Text
Resource Type	Article

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