Jun 18, 2005 · The problem of minimum joint torque motion is considered in the low-level control. The optimum motion is obtained by a local optimisation ...

This paper presents observations based on experiments and numerical simulations of the minimum joint torque motion. Two basic control algorithms are. Page 2 ...

It is shown that standard control schemes which include simple singularity-avoidance algorithms and limited joint velocities can be used for this purpose.

Joint friction is a major problem in accurate robot position control, particularly during low-speed, small-amplitude tasks. This paper proposes a simple, ...

Oct 22, 2024 · In this paper, a control method is developed for minimizing joint torque on a redundant manipulator where an external force acts on the ...

Bibliographic details on Control Considerations on Minimum Joint Torque Motion.

Our results indicated that the brain may plan, and learn to plan, the optimal trajectory in the intrinsic coordinates considering arm and muscle dynamics and ...

Using null space control, the redundant task is designed to minimize the torque needed to oppose the external force, and reduce the dynamic torque. Furthermore, ...

Humans coordinate biomechanical degrees of freedom to perform tasks at minimum cost. When reaching a target from a seated position, the trunk-arm-forearm ...

Strength, or maximum joint torque, is a fundamental factor governing human movement, and is regularly assessed for clinical and rehabilitative purposes as ...