Human Upper Limb Joint Torque Minimization Using Genetic Algorithm

Gillawat, Anil Kumar; Nagarsheth, H.J.

doi:10.1007/978-981-15-1071-7_6

Cited by 2 publications

(1 citation statement)

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“…For this reason, some scholars have addressed torque/force minimization of robot manipulators. The main approaches are (i) trajectory planning of the manipulator [2,3,4], (ii) actuation or kinematic redundancy [2,5,6,7]. For instance, Park et al [2] proposed an optimization procedure to optimize both the end-effector trajectory and actuating torque distribution of a 2-DOF redundantly actuated parallel mechanism.…”

Section: Introductionmentioning

confidence: 99%

Task-based torque minimization of a 3-PṞR spherical parallel manipulator

Zarkandi

2021

Robotica

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A comprehensive dynamic modeling and actuator torque minimization of a new symmetrical three-degree-of-freedom (3-DOF) 3-PṞR spherical parallel manipulator (SPM) is presented. Three actuating systems, each of which composed of an electromotor, a gearbox and a double Rzeppa-type driveshaft, produce input torques of the manipulator. Kinematics of the 3-PṞR SPM was recently studied by the author (Zarkandi, Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 2020, https://doi.org/10.1177%2F0954406220938806). In this paper, a closed-form dynamic equation of the manipulator is derived with the Newton–Euler approach. Then, an optimization problem with kinematic and dynamic constraints is presented to minimize torques of the actuators for implementing a given task. The results are also verified by the SimMechanics model of the manipulator.

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