A neural computational scheme for infinity-norm joint torque minimization of redundant manipulators with actuator constraints

2001 ◽  
Author(s):  
Wai Sum Tang
Keyword(s):  
Joint Torque ◽  
Computational Scheme ◽  
Redundant Manipulators ◽  
Infinity Norm ◽  
Actuator Constraints

Stabilized minimum infinity-norm torque solution for redundant manipulators

Robotica ◽  
1998 ◽  
Vol 16 (2) ◽  
pp. 193-205 ◽  
Author(s):  
Ick-Chan Shim ◽  
Yong-San Yoon
Keyword(s):  
Dynamic Control ◽  
Inequality Constraint ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
End Effector ◽  
Joint Torques ◽  
Infinity Norm ◽  
Instability Problem ◽  
Geometrical Relation ◽  
Feasibility Constraint

The minimization of the joint torques based on the ∞-norm is proposed for the dynamic control of a kinematically redundant manipulator. The ∞-norm is preferred to the 2-norm in the minimization of the joint torques since the maximum torques of the actuators are limited. To obtain the minimum ∞-norm torque solution, we devised a new algorithm that uses the acceleration polyhedron representing the end-effector's acceleration capability. Usually the minimization of the joint torques has an instability problem for the long trajectories of the end-effector. To suppress this instability problem, an inequality constraint, named the feasibility constraint, is developed from the geometrical relation between the required end-effector acceleration and the acceleration polyhedron. The minimization of the °-norm of the joint torques subject to the feasibility constraint is shown to improve the performances through the simulations of a 3-link planar redundant manipulator.

scholarly journals RNN for Motion-Force Control of Redundant Manipulators with Optimal Joint Torque

2020 ◽  
pp. 105-127
Author(s):  
Xuefeng Zhou ◽  
Zhihao Xu ◽  
Shuai Li ◽  
Hongmin Wu ◽  
Taobo Cheng ◽  
...  
Keyword(s):  
Force Control ◽  
Joint Torque ◽  
Redundant Manipulators
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