TY - JOUR
T1 - A new method of peak torque reduction with redundant manipulators
AU - Li, Degao
AU - Goldenberg, Andrew A.
AU - Zu, Jean W.
PY - 1997
Y1 - 1997
N2 - 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.
AB - 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.
KW - Inverse dynamics
KW - Manipulator dynamics
KW - Manipulator kinematics
KW - Redundancy resolution
KW - Redundant manipulator
KW - Torque optimization
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U2 - 10.1109/70.650163
DO - 10.1109/70.650163
M3 - Article
AN - SCOPUS:0031337627
SN - 1042-296X
VL - 13
SP - 845
EP - 853
JO - IEEE Transactions on Robotics and Automation
JF - IEEE Transactions on Robotics and Automation
IS - 6
ER -