Abstract
The problem of minimum joint torque motion is considered in the low-level control. The optimum motion is obtained by a local optimisation that uses the calculated derivatives of the cost function represented as a square norm of the joint torques. The experiments are carried out with planar mechanisms lifting loads. It is shown that standard control schemes which include simple singularity-avoidance algorithms and limited joint velocities can be used for this purpose.
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References
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© 1994 Springer-Verlag London Limited
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Lenarčič, J., Žlajpah, L. (1994). Control considerations on minimum joint torque motion. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027583
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DOI: https://doi.org/10.1007/BFb0027583
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