Peak torque reduction with redundant manipulators

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

Research output: Contribution to journalConference articlepeer-review

3 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 and the results show the clear superiority of the proposed method over the torque optimization method (Hollerbach & Suh 1987) and the energy minimization method (Khatib 1983).

Original languageEnglish
Pages (from-to)1775-1780
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
StatePublished - 1996
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 22 Apr 199628 Apr 1996

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