OPTIMAL TORQUE CONTROL OF REDUNDANT MANIPULATORS

This paper discusses trajectory planning of robots with redundancy.An optimization method inChebyshev sense for minimizing driving torques of joints is presented.According to this method,plan-ning of minimal torque can be solved by general linear programming.A planar manipulator with threelinks is used to test the developed algorithm.Simulation results show that major joint torques are muchsmaller than for pseudoinverse algorithm.