Abstract
SUMMARYLocal torque minimization for redundant manipulators has been considered by using a redundancy resolution approach. Since its initial formulation, however, proposed solutions have been plagued by performance instabilities. Till now, the reason was not clear. In this paper it is shown that the instability problem occurred because of incorrect formulation. A correct formulation is proposed, which is used to analyze the reason for instability. Special attention is paid to joint acceleration terms at the selfmotion manifold. This helps explaining the recent formulation of a stable scheme based on local joint velocity minimization in terms of torque. The results obtained. are related to dynamic redundancy resolution in general.
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