Local torque minimization of redundant manipulators with considering end-motion joint velocities
Local torque minimization of redundant manipulators with considering end-motion joint velocities
复制标题
考虑末端运动关节速度的冗余机械臂局部扭矩最小化
DOI：
10.1109/icsmc.1996.571362
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
Shugen Ma
中科院分区：
文献类型：
--
作者：
Shugen Ma
局部扭矩最小化被认为是冗余操纵器的一种有吸引力的冗余解决方法。为了最小化关节扭矩，必须在加速度水平上解决冗余问题。由于从未考虑过关节速度，因此所提出的解决方案一直受到由于关节速度较高而导致性能不稳定的困扰。此外，在以前提出的方法中，运动结束时的联合速度从未保证为零。这也是前一种方法的缺陷，因为在实际使用中需要零末端运动关节速度。在本文中，我们介绍了一种稳定的局部扭矩最小化技术，并考虑了末端运动关节速度。通过使末端运动关节速度为零，局部扭矩最小化方法表现出全局特性并产生稳定的手臂运动。在三连杆平面机械臂上执行计算机模拟，以证明所提出的局部扭矩最小化技术的有效性。
Local torque minimization has been considered an appealing redundancy resolution approach for redundant manipulators. To minimize the joint torques, the redundancy must be resolved at the acceleration level. Since the joint velocities were never considered, the proposed solutions have been plagued by performance instabilities due to the buildup of high joint velocities. Besides, the joint velocities at end of motion were never guaranteed to be zero in the former-proposed approaches. This is also a flaw of the former approaches, because the zero end-motion joint velocities are necessary in practical use. In this paper, we introduce a stable local torque minimization technique, with consideration of the end-motion joint velocities. By making the end-motion joint velocities to zero, the local torque minimization approach exhibits global characteristics and generates a stable arm motion. Computer simulations were executed on a three-link planar manipulator to demonstrate the effectiveness of the proposed local torque minimization technique.