Redundancy resolution of manipulators through torque optimization
- 1 August 1987
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 3 (4), 308-316
- https://doi.org/10.1109/jra.1987.1087111
Abstract
Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined. When the generalized inverse is formulated in terms of accelerations and incorporated into the dynamics, the effect of redundancy resolution on joint torque can be directly reflected. One method chooses the joint acceleration null-space vector to minimize joint torque in a least squares sense; when the least squares is weighted by allowable torque range, the joint torques tend to be kept within their limits. Contrasting methods employing only the pseudoinverse with and without weighting by the inertia matrix are presented. The results show an unexpected stability problem during long trajectories for the null-space methods and for the inertia-weighted pseudoinverse method, but more seldom for the unweighted pseudoinverse method. Evidently, a whiplash action develops over time that thrusts the endpoint off the intended path, and extremely high torques are required to overcome these natural movement dynamics.Keywords
This publication has 15 references indexed in Scilit:
- Kinematic programming alternatives for redundant manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Redundancy resolution of manipulators through torque optimizationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying EnvironmentsThe International Journal of Robotics Research, 1985
- Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 2: Investigations of Manipulators Having Five, Seven, and Eight Degrees of FreedomJournal of Mechanical Design, 1985
- Manipulability of Robotic MechanismsThe International Journal of Robotics Research, 1985
- Programming and control of kinematically redundant manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1984
- Review of pseudoinverse control for use with kinematically redundant manipulatorsIEEE Transactions on Systems, Man, and Cybernetics, 1983
- LINPACK Users' GuidePublished by Society for Industrial & Applied Mathematics (SIAM) ,1979
- The Mathematics of Coordinated Control of Prosthetic Arms and ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1972
- Resolved Motion Rate Control of Manipulators and Human ProsthesesIEEE Transactions on Systems, Man, and Cybernetics: Systems, IEEE Transactions on Cybernetics, and IEEE Transactions on Human-Machine Systems, 1969