Journal of Intelligent & Robotic Systems

, Volume 72, Issue 3–4, pp 301–323 | Cite as

Different-Level Simultaneous Minimization of Joint-Velocity and Joint-Torque for Redundant Robot Manipulators

  • Yunong Zhang
  • Dongsheng Guo
  • Shugen Ma


In J Robot Syst 13(3):177–185 (1996), Ma proposed an efficient technique to stabilize local torque optimization solution of redundant manipulators, which prevents occurrence of high joint-velocity and guarantees the final joint-velocity to be near zero. To prevent the same problems, a different-level simultaneous minimization scheme is proposed in this paper for robotic redundancy resolution, which combines the minimum two-norm joint-velocity and joint-torque solutions via two weighting factors. Physical constraints such as joint-angle limits, joint-velocity limits and joint-acceleration limits are also taken into consideration in such a scheme-formulation. Moreover, the proposed different-level simultaneous minimization scheme is resolved at the joint-acceleration level and reformulated as a general quadratic program (QP). Computer-simulation results based on the PUMA560 robot manipulator performing different types of end-effector path-tracking tasks demonstrate the validity and advantage of the proposed different-level simultaneous minimization scheme. Furthermore, experimental verification conducted on a practical six-link planar robot manipulator substantiates the effectiveness and the physical realizability of the proposed scheme.


Different-level Simultaneous minimization  Redundant robot manipulators Joint physical limits Quadratic program 


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Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  1. 1.School of Information Science and TechnologySun Yat-sen UniversityGuangzhouChina
  2. 2.Department of RoboticsRitsumeikan UniversityShiga-kenJapan

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