Using min-max of torque to resolve redundancy for a mobile manipulator

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We have considered the problem of determining the time trajectories of the joint variables of a mobile manipulator with many redundant degrees of freedom that will minimize the maximum value of the torque during a large scale motion by the manipulator. Conventional search techniques slowly solve min-max problems. Based on well known results from the Tchebycheff approximation of functions, we conjecture that at the min-max the magnitude of the normalized torques will be equal at all of the joints. It is an easier problem to find the values of the joint variables that equalize the torques than to perform a ... continued below

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Pages: (32 p)

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Reister, D.B. January 1, 1991.

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We have considered the problem of determining the time trajectories of the joint variables of a mobile manipulator with many redundant degrees of freedom that will minimize the maximum value of the torque during a large scale motion by the manipulator. Conventional search techniques slowly solve min-max problems. Based on well known results from the Tchebycheff approximation of functions, we conjecture that at the min-max the magnitude of the normalized torques will be equal at all of the joints. It is an easier problem to find the values of the joint variables that equalize the torques than to perform a large set of slow searches. Furthermore, paths that equate the torques are likely to be continuous in joint space. We have explored paths that equalize the magnitude of the normalized torques for a three link planar manipulator on a platform and for the seven degree of freedom CESARm on a three degree of freedom platform. For the planar arm, we find many analytical solutions that minimize the torque in various regions of the workspace. For the CESARm, the most attractive solution covers a wide range of the workspace and has only one discontinuity in a joint variable. We have found paths that can bridge the discontinuity at a small penalty of increased torque. Paths that equate the torques are attractive candidates for large scale motion by a mobile manipulator. 4 refs., 12 figs.

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Pages: (32 p)

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OSTI; NTIS; GPO Dep.

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  • 1992 Institute of Electrical and Electronics Engineers (IEEE) international conference on robotics and automation, Nice (France), 10-15 May 1992

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  • Other: DE92000070
  • Report No.: CONF-920540-5
  • Grant Number: AC05-84OR21400
  • Office of Scientific & Technical Information Report Number: 5836531
  • Archival Resource Key: ark:/67531/metadc1100215

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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  • January 1, 1991

Added to The UNT Digital Library

  • Feb. 18, 2018, 3:59 p.m.

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  • May 24, 2018, 12:50 p.m.

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Reister, D.B. Using min-max of torque to resolve redundancy for a mobile manipulator, article, January 1, 1991; Tennessee. (digital.library.unt.edu/ark:/67531/metadc1100215/: accessed September 20, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.