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


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

October 18, 1999
November 29, 1999
December 20, 1999
bracing control, redundant manipuator, constraint reaction force, torque reduction
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:
K. Uematsu and T. 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 Jul. 19, 2024