Bi-criteria torque minimization of redundant robot arms with schemes, models and methods compared

To solve the torque minimization problem of redundant manipulators, a bi-criteria scheme is investigated in this paper. Different from previous researches, inertia-inverse is considered corresponding to global kinetic energy minimization of robot mechanisms via this scheme. Such a scheme could be finally formulated as a general quadratic program (QP) subject to equality, inequality and bound constraints. The QP is then solved by using the LVI-based primal-dual neural network (LVI-PDNN) at joint-acceleration level. Moreover, a different scheme and its neural-network solving model/method are compared as well in this paper. Computer-simulation results based on PUMA560 robot arm tracking a straight-line path are provided lastly, which substantiate well the flexibility and efficacy of the presented torque-minimization scheme.