A new formulation technique for local torque optimization of redundant manipulators

IEEE Transactions on Industrial Electronics

Volumn 43, Issue 4, 1996, Pages 462-468

  Ma, Shugen ^a  

^a IBARAKI UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL METHODS; DEGREES OF FREEDOM (MECHANICS); INVERSE PROBLEMS; KINEMATICS; LAGRANGE MULTIPLIERS; MATRIX ALGEBRA; OPTIMIZATION; RECURSIVE FUNCTIONS; REDUNDANCY; ROBOTIC ARMS; TORQUE; TORQUE CONTROL;

JACOBIAN MATRIX; JOINT TORQUE OPTIMIZATION; LOCAL TORQUE OPTIMIZATION; REDUNDANT MANIPULATORS;

MANIPULATORS;

EID: 0030216618     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/41.510637     Document Type: Article

References (16)

1. A. A. Maciejemski and C. A. Klein, Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments," Int. J. Robot. Res., vol. 4, no. 3, pp. 109 117, 1985.
2. A. Liegeois, Automatic supervisory control of the configuration and behavior of multi-body mechanisms," IEEE Trans. Syst., Man, Cybern., vol. SMC-7, pp. 868-871, 1977.
3. C. A. Klein and C. Huang, Review of pseudoinverse control for use with kinematically redundant manipulators," IEEE Trans. Syst., Man, Cybern., vol. SMC-13, pp. 245-250, 1983.
4. T. Yoshikawa, Manipulability of robot mechanisms," Int. J. Robot. Res., vol. 4, no. 2. pp. 3-9, 1985.
5. J. Baillieul, J. M. Hollerbach, and R. Rrochett, Programming and control of kinematically redundant manipulators," in Proc. 23rd Conf. on Decision and Control, Las Vegas, NV, 1984, pp. 768-774.
6. J. M. Hollerbach and K. C. Suh, Redundancy resolution of manipulators through torque optimization," IEEE J. Robot. Automat, vol. 3, pp. 308-315, 1987.
7. K. Kazerounian and A. Nedungadi, Redundancy resolution of robotic manipulators at the acceleration level," in Proc. 7th IFFToMM World Congress on Theory of Machines and Mechanisms, Selvilla, Spain, 1987, pp. 1207-1211.
8. A. Nedungadi, Torque optimization of redundant manipulators," in Proc. 17th ISIR, Chicago, IL, 1987, pp. 10-65-10-83.
9. A. Nedungadi and K. Kazerounian, A local solution with global characteristics for the joint torque optimization of a redundant manipulator," J. Robot. Syst., vol. 6, no. 5, pp. 631-654, 1989.
10. K. Kazerounian and Z. Wang, Global versus local optimization in redundancy resolution of robot manipulator," Int. J. Robot. Res., vol. 7, no. 5, pp. 3-12, 1988.
11. S. Hirose and S. Ma, Redundancy decomposition control for multi-joint manipulators." in Proc. IEEE Int. Conf. Robotics Automation, Scottsdale, AZ, 1989, pp. 119-124.
12. S. Ma, D. Nenchev, and S. Hirose, Improving local torque optimization techniques for redundant robotic mechanisms," J. Rubol. Syst., vol. 8, no. 1, pp. 75-91, 1991.
13. S. Ma, Local torque optimization of redundant manipulators in torquebased formulation,'' in Proc. 20th IEEE Int. Conf. Industrial Electronics Control and Instrumentation (IECON'94), Bologna, Italy, 1994, pp. 697-702.
14. D. N. Nenchev and Z. M. Sotirov, Dynamic task-priority allocation for kinematically redundant robotic mechanisms," in Proc. 1994 Int. Conf. on Intelligent Robotics and Systems (IROS'94), Munich, Germany, 1994, vol. 1, pp. 518-524.
15. J. Y. S. Luh, M. W. Walker, and R. P. C. Paul, Resolved acceleration control of mechanical manipulators," IEEE Trans. Automat. Contr., vol. 25, no. 3, pp. 468-474, 1980.
16. A. Albert, Regression and the Moore - Penrose Pseudoinverse. New York and London: Academic, 1972.