Different-Level Simultaneous Minimization of Joint-Velocity and Joint-Torque for Redundant Robot Manipulators

In J Robot Syst 13(3):177–185 (1996), Ma proposed an efficient technique to stabilize local torque optimization solution of redundant manipulators, which prevents occurrence of high jointvelocity and guarantees the final joint-velocity to be near zero. To prevent the same problems, a different-level simultaneous minimization scheme is proposed in this paper for robotic redundancy resolution, which combines the minimum twonorm joint-velocity and joint-torque solutions via two weighting factors. Physical constraints such as joint-angle limits, joint-velocity limits and jointacceleration limits are also taken into consideration in such a scheme-formulation. Moreover, the proposed different-level simultaneous minimization scheme is resolved at the joint-acceleration level and reformulated as a general quadratic program (QP). Computer-simulation results based on the PUMA560 robot manipulator performing different types of end-effector path-tracking Y. Zhang (B) · D. Guo School of Information Science and Technology, Sun Yat-sen University, Guangzhou 510006, China e-mail: [email protected] S. Ma Department of Robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan tasks demonstrate the validity and advantage of the proposed different-level simultaneous minimization scheme. Furthermore, experimental verification conducted on a practical sixlink planar robot manipulator substantiates the effectiveness and the physical realizability of the proposed scheme.