Redundancy Resolution of Manipulators through Torque Optimization
J. Hollerbach, and K. Suh. Technical Report, AIM-882. Massachusetts Institute of Technology, (January 1986)
Abstract
Methods for resolving kinematic redundancies of manipulators by the
effect on joint torque are examined. When the generalized inverse
is formulated in terms of accelerations and incorporated into the
dynamics, the effect of redundancy resolution on joint torque can
be directly reflected. One method chooses the joint acceleration
null-space vector to minimize joint torque in a least squares sense;
when the least squares is weighted by allowable torque range, the
joint torques tend to be kept within their limits. Contrasting methods
employing only the pseudoinverse with and without weighting by the
inertia matrix are presented. The results show an unexpected stability
problem during long trajectories for the null-space methods and for
the inertia-weighted pseudoinverse method, but rarely for the unweighted
pseudoinverse method. Evidently a whiplash action develops over time
that thrusts the endpoint off the intended path, and extremely high
torques are required to overcome these natural movement dynamics.
(reserved for future link to MIT Libraries catalog: OCLC=36933742,
LCN=MITb10816681
bibdate
September 14, 1999
notes
s 1986 vau n b Reference: Also published in IEEE Journal of Robotics
and Automation, RA-3, 1987. Keywords: robotics, manipulator control,
redundant manipulators, manipulator dynamics Cost: \$3.00 AD-A167851
Also published in IEEE Journal of Robotics and Automation,
RA-3, 1987.
%0 Report
%1 MIT-AILab//AIM-882
%A Hollerbach, John M.
%A Suh, Ki C.
%B AI memo ;
%D 1986
%K control; manipulator manipulators; redundant robotics
%N AIM-882
%P 16
%T Redundancy Resolution of Manipulators through Torque Optimization
%X Methods for resolving kinematic redundancies of manipulators by the
effect on joint torque are examined. When the generalized inverse
is formulated in terms of accelerations and incorporated into the
dynamics, the effect of redundancy resolution on joint torque can
be directly reflected. One method chooses the joint acceleration
null-space vector to minimize joint torque in a least squares sense;
when the least squares is weighted by allowable torque range, the
joint torques tend to be kept within their limits. Contrasting methods
employing only the pseudoinverse with and without weighting by the
inertia matrix are presented. The results show an unexpected stability
problem during long trajectories for the null-space methods and for
the inertia-weighted pseudoinverse method, but rarely for the unweighted
pseudoinverse method. Evidently a whiplash action develops over time
that thrusts the endpoint off the intended path, and extremely high
torques are required to overcome these natural movement dynamics.
@techreport{MIT-AILab//AIM-882,
abstract = {Methods for resolving kinematic redundancies of manipulators by the
effect on joint torque are examined. When the generalized inverse
is formulated in terms of accelerations and incorporated into the
dynamics, the effect of redundancy resolution on joint torque can
be directly reflected. One method chooses the joint acceleration
null-space vector to minimize joint torque in a least squares sense;
when the least squares is weighted by allowable torque range, the
joint torques tend to be kept within their limits. Contrasting methods
employing only the pseudoinverse with and without weighting by the
inertia matrix are presented. The results show an unexpected stability
problem during long trajectories for the null-space methods and for
the inertia-weighted pseudoinverse method, but rarely for the unweighted
pseudoinverse method. Evidently a whiplash action develops over time
that thrusts the endpoint off the intended path, and extremely high
torques are required to overcome these natural movement dynamics.},
added-at = {2008-03-02T02:12:02.000+0100},
author = {Hollerbach, John M. and Suh, Ki C.},
bibdate = {September 14, 1999},
biburl = {https://www.bibsonomy.org/bibtex/2bebf66e3e2434932267a326140d9348a/dmartins},
description = {robotica-bib},
institution = {Massachusetts Institute of Technology},
interhash = {790bfc6259de4897ee6ca3ec79c4bce8},
intrahash = {bebf66e3e2434932267a326140d9348a},
keywords = {control; manipulator manipulators; redundant robotics},
month = {January},
notes = {s 1986 vau n b Reference: Also published in {\it IEEE Journal of Robotics
and Automation}, RA-3, 1987. Keywords: robotics, manipulator control,
redundant manipulators, manipulator dynamics Cost: \$3.00 AD-A167851
Also published in {\it IEEE Journal of Robotics and Automation},
RA-3, 1987.},
number = {AIM-882},
pages = 16,
retrieval = {(reserved for future link to MIT Libraries catalog: OCLC=36933742,
LCN=MITb10816681},
series = {AI memo ;},
timestamp = {2008-03-02T02:13:10.000+0100},
title = {Redundancy Resolution of Manipulators through Torque Optimization},
type = {Technical Report},
year = 1986
}