Paper Info
Title
Torque distribution using a weighted pseudoinverse in a redundantly actuated mechanism
Abstract
When mobility, the number of independent variables to describe system motion exactly, is greater than the degree-of-freedom of task space, the system is called a kinematically redundant system. On the other hand, redundant actuation indicates a situation when there are more actuators than a system's mobility. Redundant actuation yields many advantages. First, actuation redundancy can increase the force, velocity and acceleration of an end-effector. Second, if some actuators are out of order, the system can still work well. This fault-tolerant capability is useful for remote control robots in space or nuclear plants. Impulsive force can decrease when modulating arbitrary stiffness without feedback control. The performance of a system can be improved by optimizing redundancy. However, there are some issues of economic efficiency and minimization of a system, because redundant actuation may involve more actuators than non-redundant actuation. In addition, there are infinite torque sets of motors for the same task. We used a weighted pseudoinverse matrix for torque distribution. To reduce the maximum torque, we suggested the use of the minimum norm torque as the weighting values. This method allows for smaller motor capacity, and can contribute to economic efficiency and minimization of a system.
Year
DOI
Venue
2003
10.1163/156855303322395226
ADVANCED ROBOTICS
Keywords
Field
DocType
redundant actuation,redundancy,load distribution,torque distribution,weighted pseudoinverse
Torque,Remote control,Control theory,Moore–Penrose pseudoinverse,Control engineering,Redundancy (engineering),Minification,Acceleration,Engineering,Robot,Actuator
Journal
Volume
Issue
ISSN
17
8
0169-1864
Citations 
PageRank 
References 
4
0.54
4
Authors
4
Name
Order
Citations
PageRank
Dong Il Park1164.81
Sang Heon Lee29214.53
Soohyun Kim317426.33
Yoon-keun Kwak4214.96