Hostname: page-component-74656f9884-c52kr Total loading time: 0 Render date: 2026-11-09T02:27:09.320Z Has data issue: false hasContentIssue false
  • English
  • Français

Local torque minimization for redundant manipulators: a correct formulation

Published online by Cambridge University Press:  09 March 2009

Shugen Ma  and
Dragomir N. Nenchev
Get access Rights & Permissions [Opens in a new window]

Summary

Local torque minimization for redundant manipulators has been considered by using a redundancy resolution approach. Since its initial formulation, however, proposed solutions have been plagued by performance instabilities. Till now, the reason was not clear. In this paper it is shown that the instability problem occurred because of incorrect formulation. A correct formulation is proposed, which is used to analyze the reason for instability. Special attention is paid to joint acceleration terms at the selfmotion manifold. This helps explaining the recent formulation of a stable scheme based on local joint velocity minimization in terms of torque. The results obtained. are related to dynamic redundancy resolution in general.

Keywords

Redundant manipulatorsLocal torque minimizationSelfmotion manifold

Information

Type
Article
Information
Robotica , Volume 14 , Issue 2 , March 1996 , pp. 235 - 239
Copyright
Copyright © Cambridge University Press 1996

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Hollerbach, J.M. and Suh, K.C., “Redundancy resolution of manipulators through torque optimization,” IEEE Journal of Robotics and Automation RA-3, No. 4, 308–316 (1987).CrossRefGoogle Scholar
2.Kazerounian, K. and Nedungadi, A., “Redundancy resolution of robotic manipulators at the acceleration level” Proc. 7th World Congress of IFToMM,Sevilla, Spain,(1987) pp. 1207–1211.Google Scholar
3.Chung, W.J., Chung, W.K. and Youm, Y., “J-minor based dynamic control for kinematically redundant manipulators” Proc. 1991 IEEE/RSJ Int. Workshop on Intelligent Robots and Systems IROS'91,Osaka, Japan(1991) pp. 143–148.Google Scholar
4.Chung, W.J., Chung, W.K. and Youn, Y., “Dynamic control for redundant manipulators using full row-rank minors of Jacobian” Proc. 1993 IEEE/RSJ Int. Conf. Intelligent Robots and System (IROS'93),Yokohama, Japan(1993) pp. 1053–1058.Google Scholar
5.Hirose, S. and Ma, S., “Redundancy decomposition control for multi-joint manipulators” Proc. 1989 IEEE Int. Conf. Robotics and Automation,Scottsdale, AZ(1989) pp. 520–525.Google Scholar
6.Kang, H.-J. and Freeman, R.A., “Joint torque optimization of redundant manipulators via the null space damping method” Proc. 1992 IEEE Int. Conf. Robotics and Automation,Nice, France(1992) pp. 520–525.Google Scholar
7.Ma, S., Hirose, S. and Nenchev, D.N., “Improving local torque optimization techniques for redundant robotic mechanism” J. Robotic Systems 8, No. 1, 75–91 (1991).CrossRefGoogle Scholar
8.Ma, S. and Hirose, S., “Dynamic redundancy resolution of redundant manipulators with local optimization of kinematic criterion” Proc. 2nd Asian Conf. Robotics and its Applications,Beijing, China(1994) pp. 236–243.Google Scholar
9.Chen, T.-H., Cheng, F.-T. and Sun, Y.-Y., “Torque optimization schemes for kinematically redundant manipulators” J. Robotic Systems 11, No. 4, 257–269 (1994).CrossRefGoogle Scholar
10.Kazerounian, K. and Wang, Z., “Global versus local optimization in redundancy resolution of robotic manipulators” Int. J. Robotics Research 7, No. 5, 3–12 (1988).CrossRefGoogle Scholar
11.Nenchev, D.N., “Redundancy resolution through local optimization: a review”. J. Robotic Systems 6, No. 6, 769–798 (1989).CrossRefGoogle Scholar
12.Suh, K.C. and Hollerbach, J.M., “Local versus global optimization of redundant manipulators. Proc. 1987 IEEE Int. Conf. Robotics and Automation,Raleigh, NC(1987) pp. 619–624.Google Scholar
13.De Luca, A. and Oriolo, G., “Efficient dynamic resolution of robot redundancy” Proc. 1990 ACC,San Diego, California(1990) pp. 221–227.Google Scholar
14.Maciejewski, A.A., “Kinetic limitations on the use of redundancy in robotic manipulators” IEEE Trans. Robotics and Automation 7, No. 2, 205–210 (1991).CrossRefGoogle Scholar
15.Niemeyer, G. and Slotine, J.-J.E., “Computational algorithms for adaptive compliant motion” Proc. 1989 IEEE Int. Conf. Robotics and Automation,Scottsdale, AZ(1989) pp. 566–571.Google Scholar
16.Niemeyer, G. and Slotine, J-J.-E., “Adaptive Cartesian control of redundant manipulators” Proc. 1990 ACC,San Diego, Califonia(1990) pp. 134–241.Google Scholar
17.Siciliano, B. and Slotine, J-J.-E., “A general framework for managing multiple tasks in highly redundant robotic systems” Proc. 5th Int. Conf. Advanced Robotics,Pisa, Italy(1991) pp. 1211–1216.Google Scholar