A local solution with global characteristics for the joint torque optimization of a redundant manipulator

DOI10.1002/ROB.4620060508zbMATH Open0698.70027OpenAlexW4239832852MaRDI QIDQ3476337FDOQ3476337

Authors:

Publication date: 1989

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620060508

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zbMATH Keywords

redundant robotic manipulatorsglobal kinetic energy minimization probleminertia inverse weighted dynamic torquestable local solution

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

Cited In (4)

• A local solution with global characteristics for the joint torque optimization of a redundant manipulator
• On the local fault tolerance of a kinematically redundant manipulator
• Relation between global velocity and local torque optimization of redundant manipulators
• Title not available (Why is that?)

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