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

International Journal of Robotics and Automation

Volumn 12, Issue 2, 1997, Pages 65-70

  Ma, S ^a  

^a IBARAKI UNIVERSITY   (Japan)

Author keywords

Decomposed formulation; Local torque minimization; Redundant manipulator; Torque based formulation; Zero end motion joint velocity

Indexed keywords

COMPUTER SIMULATION; MOTION CONTROL; OPTIMIZATION; TORQUE CONTROL;

LOCAL TORQUE MINIMIZATION; TORQUE BASED FORMULATION;

MANIPULATORS;

EID: 0030657362     PISSN: 08268185     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (19)

1. J.M. Hollerbach & K.C. Suh, Redundancy resolution of manipulators through torque optimization, IEEE J. of Robotics and Automation, 3-4, 1987, 308-316.
2. K. Kazerounian & A. Nedungadi, Redundancy resolution of robotic manipulators at the acceleration level, 7th World Congress of IFToMM, Selvilla, Spain, 1987, 1207-1211.
3. S. Hirose & S. Ma, Redundancy decomposition control for multi-joint manipulators, Proc. IEEE Int. Conf. Robotics and Automation, Scottsdale, AZ, 1989, 119-124.
4. S. Ma, S. Hirose, & D.N. Nenchev, Improving local torque optimization techniques for redundant robotic mechanism, J. of Robotic Systems, 8-1, 1991, 75-91.
5. H-J. Kang & R.A. Freeman, Joint torque optimization of redundant manipulators via the null space damping method, Proc. IEEE Int. Conf. Robotics and Automation, Nice, Prance, 1992, 520-525.
6. W.J. Chung, W.K. Chung, & Y. Youm, Dynamic control for redundant manipulators using full row-rank minors of Jacobian, Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS'93), Yokohama, Japan, 1993, 1053-1058.
7. J. Park, W.K. Chung, & Y. Youm, Specification and control of motion for kinematically redundant manipulators, Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS'95), Pittsburgh, PA, 1995, 89-94.
8. D. Li, A.A. Goldenberg, & J.W. Zu, Peak torque reduction with redundant manipulators, Proc. IEEE Int. Conf. Robotics and Automation, Minneapolis, Minn, 1996, 1775-1780.
9. S. Ma & S. Hirose, Dynamic redundancy resolution of redundant manipulators with local optimization of a kinematic criterion, Proc. 2nd Asian Conf. Robotics and its Applications, Beijing, China, 1994, 236-243.
10. T-H. Chen, F-T. Cheng, & Y-Y Sun, Torque optimization schemes for kinematically redundant manipulators, J. of Robotic Systems, 11-4, 1994, 257-269.
11. K.C. Suh & J.M. Hollerbach, Local versus global optimization of redundant manipulators, Proc. IEEE Int. Conf. Robotics and Automation, Raleigh, NC, 1987, 619-624.
12. K. Kazerounian & Z. Wang, Global versus local optimization in redundancy resolution of robotic manipulators, Int. J. of Robotics Research, 7-5, 1988, 3-12.
13. A. Nedungadi & K. Kazerouinian, A local solution with global characteristics for the joint torque optimization of a redundant manipulator, J. of Robotic Systems, 6-5, 1989, 631-654.
14. B. Hu, C.L. Teo, & H.P. Lee, Relation between global velocity and local torque optimization of redundant manipulators, J. of Robotic Systems, 11-4, 1994, 271-279.
15. S. Ma, Local torque optimization of redundant manipulators in torque-based formulation, IEEE Trans. Industrial Electronics, 43-4, 1996, 462-168.
16. A. De Luca & G. Oriolo, Efficient dynamic resolution of robot redundancy, Proc. ACC, San Diego, CA, 1990, 221-227.
17. F.T. Cheng, R.J. Sheu, & T.H. Chen, The unproved compact QP method for resolving manipulator redundancy, IEEE Trans. Systems, Man, and Cybern., 25-11, 1995, 1521-1530.
18. S. Ma & D.N. Nenchev, Local torque minimization for redundant manipulators: A correct formulation, Int. J. of Robotica, 14-2, 1996, 335-239.
19. J.Y.S. Loh, M.W. Walker, & R.P.C. Paul, Resolved acceleration control of mechanical manipulators, IEEE Trans. Automatic Control, 25-3, 1880, 468-474.