A stabilized local torque optimization technique for redundant manipulators

A technique that stabilizes the existing local torque optimization solutions for redundant manipulators is proposed in this paper. The technique is based on a balancing scheme, which balances a solution of joint torque-minimization against a solution of joint velocity-minimization. Introducing the solution of joint velocity-minimization in the approach prevents occurrence of high joint velocities thus results in stable optimal arm motions, and guarantees the joint velocities at end of motion to be near zero. Computer simulations were executed on a three-link planar rotary manipulator to verify the performance of the proposed local torque optimization technique and to compare its performance with existing ones for various straight line trajectories