Dynamic Control of Redundant Manipulators based on the Minors of Jacobian Matrix

쟈코비안 행렬의 마이너(Minor)에 기초한 여유자유도 로봇의 동력학적 제어

For the control of redundant manipulators, conventional dynamic control methods of local torque optimization showed the instability which resulted in physically unrealizable torque requirements. In this paper, a new dynamic control method which is based on the concept of aspects is proposed. The proposed method starts with the basic understanding of the minors in the Jacobian matrix. It was shown by computer simulations that the proposed method demonstrates a drastic reduction of torque loadings at the joints in the tracking motion of a long trajectory, and thus guarantees the stability of joint torque.