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JRM Vol.11 No.6 pp. 518-523
doi: 10.20965/jrm.1999.p0518
(1999)

Paper:

Torque Reduction Method for Redundant Manipulator

Kenji Uematsu* and Toshio Fukuda**

*Department of Micro System Engineering, Graduate School of Engineering

**Center for Cooperative Research in Advanced Science & Technology, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan

Received:
October 18, 1999
Accepted:
November 29, 1999
Published:
December 20, 1999
Keywords:
bracing control, redundant manipuator, constraint reaction force, torque reduction
Abstract

Redundant manipulators are used to avoid collisions and conduct motion in which all manipulator links avoid the obstacle in work space. The manipulator changes position by adjusting a redundant degree of freedom, simultaneously, but joint torque saturates and error at the end point increases with the number of components. We propose bracing control to contact the intermediate point of the redundant manipulator with the environment and to use contact force as equivalent control input to compensate for joint torque. We verify the effectiveness of our proposal through simulation.

Cite this article as:
Kenji Uematsu and Toshio Fukuda, “Torque Reduction Method for Redundant Manipulator,” J. Robot. Mechatron., Vol.11, No.6, pp. 518-523, 1999.
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Last updated on Oct. 20, 2021