An Approach to Torque Optimizing Control for a Redundant Manipulator
نویسندگان
چکیده
A new control method for kinematically redundant manipulators having the properties of local torqueoptimality and singularity-robustness is developed. The proposed control method is applied to the numerical model of the SNU-ERC 3-DOF direct-drive manipulator. It is shown that the proposed control method is very e ective in overcoming the singularity problem, especially in the case of using the local torque optimization control of redundant manipulators.
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تاریخ انتشار 2001