Please use this identifier to cite or link to this item: https://doi.org/10.1109/70.388785
Title: Local optimization of weighted joint torques for redundant robotic manipulators
Authors: Hu, B.
Teo, C.L. 
Lee, H.P. 
Issue Date: Jun-1995
Source: Hu, B., Teo, C.L., Lee, H.P. (1995-06). Local optimization of weighted joint torques for redundant robotic manipulators. IEEE Transactions on Robotics and Automation 11 (3) : 422-425. ScholarBank@NUS Repository. https://doi.org/10.1109/70.388785
Abstract: In this article, stable local solutions with global characteristics are developed for the weighted joint torque optimization in redundant manipulator. Conditions for these symmetric weight matrices are found that can guarantee that the local optimization of joint torque weighted by these matrices will have the same stability and optimality as the local optimization for the inertia inverse weighted joint torque. The symbolic results of the weighted projection operator of Jacobian matrix are also derived. It is also proposed that the weight matrix plays an important role in avoiding instabilities by rotating the null space of the Jacobian matrix to what the authors termed an effective null space of J.
Source Title: IEEE Transactions on Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/58434
ISSN: 1042296X
DOI: 10.1109/70.388785
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