Local torque minimization for redundant manipulators: A correct formulation

Robotica

Volumn 14, Issue 2, 1996, Pages 235-239

  Ma, Shugen ^a   Nenchev, Dragomir N ^b  

^a IBARAKI UNIVERSITY   (Japan)

^b TOHOKU UNIVERSITY   (Japan)

Author keywords

Local torque minimization; Redundant manipulators; Selfmotion manifold

Indexed keywords

ACCELERATION; COMPUTER SIMULATION; OPTIMIZATION; SYSTEM STABILITY; TORQUE; VELOCITY;

LOCAL TORQUE MINIMIZATION; REDUNDANT MANIPULATORS; SELFMOTION MANIFOLD;

MANIPULATORS;

EID: 0030104806     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/s0263574700019159     Document Type: Article

References (17)

1. J.M. Hollerbach and K.C. Suh, "Redundancy resolution of manipulators through torque optimization," IEEE Journal of Robotics and Automation RA-3, No. 4, 308-316 (1987).
2. K. Kazerounian and A. Nedungadi, "Redundancy resolution of robotic manipulators at the acceleration level" Proc. 7th World Congress of IFToMM, Sevilla, Spain, (1987) pp. 1207-1211.
3. W.J. Chung, W.K. Chung and Y. Youm, "J-minor based dynamic control for kinematically redundant manipulators" Proc. 1991 IEEE/RSJ Int. Workshop on Intelligent Robots and Systems IROS'91, Osaka, Japan (1991) pp. 143-148.
4. W.J. Chung, W.K. Chung and Y. Youn, "Dynamic control for redundant manipulators using full row-rank minors of Jacobian" Proc. 1993 IEEE/RSJ Int. Conf. Intelligent Robots and System (IROS'93), Yokohama, Japan (1993) pp. 1053-1058.
5. S. Hirose and S. Ma, "Redundancy decomposition control for multi-joint manipulators" Proc. 1989 IEEE Int. Conf. Robotics and Automation, Scottsdale, AZ (1989) pp. 520-525.
6. H.-J. Kang and R.A. Freeman, "Joint torque optimization of redundant manipulators via the null space damping method" Proc. 1992 IEEE Int. Conf. Robotics and Automation, Nice, France (1992) pp. 520-525.
7. S. Ma, S. Hirose and D.N. Nenchev, "Improving local torque optimization techniques for redundant robotic mechanism" J. Robotic Systems 8, No. 1, 75-91 (1991).
8. S. Ma and S. Hirose, "Dynamic redundancy resolution of redundant manipulators with local optimization of kinematic criterion" Proc. 2nd Asian Conf. Robotics and its Applications, Beijing, China (1994) pp. 236-243.
9. T.-H. Chen, F.-T. Cheng and Y.-Y. Sun, "Torque optimization schemes for kinematically redundant manipulators" J. Robotic Systems 11, No. 4, 257-269 (1994).
10. K. Kazerounian and Z. Wang, "Global versus local optimization in redundancy resolution of robotic manipulators" Int. J. Robotics Research 7, No. 5, 3-12 (1988).
11. D.N. Nenchev, "Redundancy resolution through local optimization: a review." J. Robotic Systems 6, No. 6, 769-798 (1989).
12. K.C. Suh and J.M. Hollerbach, "Local versus global optimization of redundant manipulators. Proc. 1987 IEEE Int. Conf. Robotics and Automation, Raleigh, NC (1987) pp. 619-624.
13. A. De Luca and G. Oriolo, "Efficient dynamic resolution of robot redundancy" Proc. 1990 ACC, San Diego, California (1990) pp. 221-227.
14. A.A. Maciejewski, "Kinetic limitations on the use of redundancy in robotic manipulators" IEEE Trans. Robotics and Automation 7, No. 2, 205-210 (1991).
15. G. Niemeyer and J.-J.E. Slotine, "Computational algorithms for adaptive compliant motion" Proc. 1989 IEEE Int. Conf. Robotics and Automation, Scottsdale, AZ (1989) pp. 566-571.
16. G. Niemeyer and J-J.E. Slotine, "Adaptive Cartesian control of redundant manipulators" Proc. 1990 ACC, San Diego, Califonia (1990) pp. 134-241.
17. B. Siciliano and J-J.-E. Slotine, "A general framework for managing multiple tasks in highly redundant robotic systems" Proc. 5th Int. Conf. Advanced Robotics, Pisa, Italy (1991) pp. 1211-1216.