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|Title:||Motions with minimal joint torque for redundant manipulators|
|Authors:||Pueh, Lee Heow|
|Source:||Pueh, Lee Heow (1993-09). Motions with minimal joint torque for redundant manipulators. Journal of Mechanical Design, Transactions Of the ASME 115 (3) : 599-603. ScholarBank@NUS Repository.|
|Abstract:||The article presents a method for obtaining motions with minimal joint torques for redundant mechanical manipulators. For the present method, the degrees of redundancy are resolved at the global level. It is observed that motions with optimal joint torques are usually associated with large joint speeds and joint accelerations, compared with the joint speeds and joint accelerations for motions with minimal joint speeds or joint accelerations. To overcome this problem, the optimization criterion for minimal joint torques is modified by combining it separately with the optimization criteria for both minimal joint speeds and minimal joint accelerations. The resulting optimal motions, with smaller joint speeds and joint accelerations, are achieved at the expense of having larger joint torques.|
|Source Title:||Journal of Mechanical Design, Transactions Of the ASME|
|Appears in Collections:||Staff Publications|
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