Efficient Dynamic Resolution of Robot Redundancy

A new method for solving redundancy in robot arms by locally optimizing a dynamic criterion is presented. Optimization is performed by means of a joint decomposition technique, resulting in a particularly efficient computational scheme which is feasible for real-time control. The technique is illustrated obtaining an alternate and simpler expression in the case of torque minimization. It is known that such a local scheme may exhibit unstable behavior, due to the build-up of high joint velocities that require in turn extremely large torques. Physical intuition is exploited to propose other dynamic criteria, whose minimization generates satisfactory torque profiles. Comparative simulations on a three-link planar arm show the effectiveness of the proposed method.