A new method of peak torque reduction with redundant manipulators

Degao Li, Andrew A. Goldenberg, Jean W. Zu

Research output: Contribution to journalArticlepeer-review

14 Scopus citations

Abstract

A new method aiming at reducing peak torques is developed in this paper for kinematically redundant manipulators. The method considers the contributions of both velocity and acceleration to the joint torque. Instead of minimizing the joint torque or kinetic energy at the current station, the method always uses the current torque to approach an optimum velocity of the following station, which, along with joint acceleration, minimizes the torque of the following station, while at the same time keeps the current torque within the limits. Simulations are conducted for three cases and the results show the clear superiority of the proposed method over the conventional torque optimization and energy minimization methods.

Original languageEnglish
Pages (from-to)845-853
Number of pages9
JournalIEEE Transactions on Robotics and Automation
Volume13
Issue number6
DOIs
StatePublished - 1997

Keywords

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

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