A local solution with global characteristics for the joint torque optimization of a redundant manipulator

摘要

Abstract In this article, a stable local solution with global characteristics is developed for the joint torque optimization problem in redundant robotic manipulators. It is shown that the local optimization of the inertia inverse weighted dynamic torque corresponds to the global kinetic energy minimization problem. The proposed local‐global alternative to the joint torque optimization problem is compared for stability and torque optimality with five different methods used for redundancy resolution of robotic manipulators at the acceleration level. The proposed local‐global solution has been implemented and tested on a planar four‐DOF kinematically redundant lab robot which was designed and built at Southwest Research Institute (SWRI). Several numerical simulations confirm the positive advantages of solutions which have a local as well as a global interpretation. In addition, a “dynamic manipulation index” is introduced to monitor the stability of an optimization problem in a kinematically redundant robot.