A balancing technique to stabilize local torque optimization solution of redundant manipulators

Journal of Robotic Systems

Volumn 13, Issue 3, 1996, Pages 177-185

  Ma, Shugen ^a  

^a IBARAKI UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONVERGENCE OF NUMERICAL METHODS; MOTION CONTROL; OPTIMIZATION; REDUNDANCY; ROBOTIC ARMS; SYSTEM STABILITY; TORQUE CONTROL; UNIVERSAL JOINTS; VELOCITY CONTROL;

BALANCING TECHNIQUE; JOINT TORQUE MINIMIZATION; JOINT VELOCITY MINIMIZATION; STRAIGHT LINE TRAJECTORIES;

MANIPULATORS;

EID: 0030109853     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1097-4563(199603)13:3<177::AID-ROB5>3.0.CO;2-P     Document Type: Article

References (10)

1. J. M. Hollerbach and K. C. Suh, "Redundancy resolution of manipulators through torque optimization," Proc. IEEE Int. Conf. Rob. Autom., St. Louis, MO, 1985, pp. 1016-1021.
2. J. M. Hollerbach and K. C. Suh, "Redundancy resolution of manipulators through torque optimization," IEEE Trans. Rob. Autom. 3(4), 308-315, 1987.
3. K. Kazerounian and A. Nedungadi, "Redundancy resolution of robotic manipulators at the acceleration level," Proc. IFToMM World Congress, Sevilla, Spain, 1987, pp. 1207-1211.
4. A. Nedungadi, "Torque optimization of redundant manipulators," Proc. ISIR, Chicago, IL, 1987, pp. 10(65)-10(83).
5. Y. Nakamura and H. Hanafusa, "Optimal redundancy control of robotic manipulators," Int. J. Rob. Res., 6(1), 32-42, 1987.
6. K. C. Suh and J. M. Hollerbach, "Local versus global torque optimization of redundant manipulators," Proc. IEEE Int. Conf. Rob. Autorn., Raleigh, NC, 1987, pp. 619-624.
7. S. Ma, D. Nenchev, and S. Hirose, "Improving local torque optimization techniques for redundant robotic mechanisms," J. Rob. Syst., 8(1), 75-91, 1991.
8. S. Ma, "Local torque optimization of redundant manipulators in torque-based formulation," Proc. IEEE Int. Con/. Ind. Electron. Control Instrument. (IECON'94), Bologna, Italy, 1994, Vol. 2, pp. 697-702.
9. S. Ma and S. Hirose, "Dynamic redundancy resolution of redundant manipulators with local optimization of a kinematic criterion," Proc. Asian Conf. Rob. Appl., Beijing, China, 1994, pp. 236-243.
10. J. Y. S. Luh, M. W. Walker, and R. P. C. Paul, "Resolved acceleration control of mechanical manipulators," IEEE Trans. Autom. Control, 25(3), 468-474, 1980.