TY - JOUR
T1 - Torque optimization schemes for kinematically redundant manipulators
AU - Chen, Tsing‐Hua ‐H
AU - Cheng, Fan‐Tien ‐T
AU - Sun, York‐Yih ‐Y
AU - Hung, Min‐Hsiung ‐H
PY - 1994
Y1 - 1994
N2 - One of the important applications for the resolution of redundant manipulators is torque optimization, due to the fact that the actuators used for driving a manipulator have finite power ratings. Nevertheless, not many algorithms have been proposed to accomplish this objective. A survey of the existing local torque optimization control schemes is given in this article. It will be shown that all of them either encounter instability problems for long trajectories or fail in certain cases. For remedying these problems, the authors present the Minimum Velocity Norm (MVN) method, which is the most common approach for kinematic redundancy resolution and has never been adopted for torque optimization by other researchers. Simulation results show that the simple MVN method is moderate for short movements and is stable for long movements. Also, the MVN method can be applied to cases that may not be accomplished by some other approaches. Therefore, the MVN method is better than the other existing approaches for torque optimization. © 1994 John Wiley & Sons, Inc.
AB - One of the important applications for the resolution of redundant manipulators is torque optimization, due to the fact that the actuators used for driving a manipulator have finite power ratings. Nevertheless, not many algorithms have been proposed to accomplish this objective. A survey of the existing local torque optimization control schemes is given in this article. It will be shown that all of them either encounter instability problems for long trajectories or fail in certain cases. For remedying these problems, the authors present the Minimum Velocity Norm (MVN) method, which is the most common approach for kinematic redundancy resolution and has never been adopted for torque optimization by other researchers. Simulation results show that the simple MVN method is moderate for short movements and is stable for long movements. Also, the MVN method can be applied to cases that may not be accomplished by some other approaches. Therefore, the MVN method is better than the other existing approaches for torque optimization. © 1994 John Wiley & Sons, Inc.
UR - http://www.scopus.com/inward/record.url?scp=0028445885&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0028445885&partnerID=8YFLogxK
U2 - 10.1002/rob.4620110403
DO - 10.1002/rob.4620110403
M3 - Article
AN - SCOPUS:0028445885
SN - 0741-2223
VL - 11
SP - 257
EP - 269
JO - Journal of Robotic Systems
JF - Journal of Robotic Systems
IS - 4
ER -