A new method of peak torque reduction with redundant manipulators

IEEE Transactions on Robotics and Automation

Volumn 13, Issue 6, 1997, Pages 845-853

  Li, Degao ^a   Goldenberg, Andrew A ^a   Zu, Jean W ^a  

^a UNIVERSITY OF TORONTO   (Canada)

Author keywords

Inverse dynamics; Manipulator dynamics; Manipulator kinematics; Redundancy resolution; Redundant manipulator; Torque optimization

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; END EFFECTORS; INVERSE KINEMATICS; INVERSE PROBLEMS; MATHEMATICAL MODELS; NUMERICAL METHODS; PROBLEM SOLVING; TORQUE; TORQUE CONTROL;

REDUNDANT MANIPULATOR; TORQUE OPTIMIZATION;

MANIPULATORS;

EID: 0031337627     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.650163     Document Type: Article

References (15)

1. J. Baillieul, "Kinematic programming alternatives for redundant manipulators," in Proc. IEEE Conf. Robot. Automat., St. Louis, MO, Mar. 1985, pp. 722-728.
2. _, "Avoiding obstacles and resolving kinematic redundancy," in Proc. IEEE Int. Conf. Robot. Automat., San Francisco, CA, Apr. 1986, pp. 1698-1704.
3. D. R. Baker and C. W. Wampler, "On the inverse kinematics of redundant manipulators," Int. J. Robot. Res., vol. 7, pp. 3-21, 1988.
4. B. Benhabib, A. A. Goldenberg, and R. G. Fenton, "A solution to the inverse kinematics of redundant manipulators," J. Robot. Syst., vol. 2, pp. 373-385, 1985.
5. O. Egeland, "Task-space tracking with redundant manipulators," IEEE J. Robot. Automat., vol. RA-3, pp. 471-475, Oct. 1987.
6. J. M. Hollerbach and K. C. Suh, "Redundancy resolution of manipulators through torque optimization," IEEE J. Robot. Automat., vol. RA-3, no. 4, pp. 308-316, Aug. 1987.
7. O. Khatib, "Dynamic control of manipulators in operational space," in Proc. 6th IFTMM Congr. Theory Mach. Mechanisms, New Dehli, India, pp. 1023-1131, Dec. 1983.
8. M. V. Kircanski and T. M. Petrovic, "Combined analytical-pseudoinverse inverse kinematic solution for simple redundant manipulators and singularity avoidance," Int. J. Robot. Res., vol. 12, 1993.
9. A. Liegeois, "Automatic supervisory control of the configuration and behavior of multibody mechanisms," IEEE Trans. Syst., Man, Cybern., vol. SMC-7, pp. 868-871, Nov./Dec. 1977.
10. Y. Nakamura and H. Hanafusa, "Optimal redundancy control of robot manipulators," Int. J. Robot. Res., vol. 6, pp. 32-42, 1987.
11. J. M. Ortega and W. C. Rheinboldt, Iterative solution of nonlinear equations in several variables. New York: Academic, 1970.
12. R. P. Podhorodeski, A. A. Goldenberg, and R. G. Fenton, "Resolving redundant manipulator joint rates and identifying special arm configurations using Jacobian null-space bases," IEEE Trans. Robot. Automat., vol. 7, pp. 607-618, Oct. 1991.
13. S. Seereeram and J. T. Wen, "A global approach to path planning for redundant manipulators," in Proc. IEEE Conf. Robot. Automat., Atlanta, GA, May 1993, pp. 283-288.
14. M. Vukobratovic and M. Kircanski, "A dynamic approach to nominal trajectory synthesis for redundant manipulators," IEEE Trans. Syst., Man., Cybern., vol. SMC-14, pp. 580-586, July/Aug. 1984.
15. D. E. Whitney, "Resolved motion rate control of manipulators and human prostheses," IEEE Trans, Man Machine Syst., vol. 10, no. 2, pp. 47-53, 1969.