A local solution with global characteristics for the joint torque optimization of a redundant manipulator

DOI10.1002/ROB.4620060508zbMath0683.70030OpenAlexW4239832852MaRDI QIDQ4733486

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Publication date: 1989

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620060508

zbMATH Keywords

local optimizationglobal characteristicsredundancy resolutionredundant robotic manipulatorsglobal kinetic energy minimization probleminertia inverse weighted dynamic torquestable local solutionjoint torque optimization problem

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (6)

Concurrent motion planning and reaction load distribution for redundant dynamic systems under external holonomic constraints ⋮ Trajectory optimization for kinematically redundant arms ⋮ Relation between global velocity and local torque optimization of redundant manipulators ⋮ Null space damping method for local joint torque optimization of redundant manipulators ⋮ Reducing flexible base vibrations through local redundancy resolution ⋮ Bi-criteria optimal control of redundant robot manipulators using LVI-based primal-dual neural network

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