{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,6]],"date-time":"2025-06-06T14:48:35Z","timestamp":1749221315478,"version":"3.33.0"},"reference-count":11,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5884,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1991,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Two techniques that improve existing local torque optimization methods for redundant robotic mechanisms are proposed. The first technique is based on a balancing scheme, which balances a joint torque norm against a norm of joint accelerations. Expressions have been derived utilizing the Lagrangian multipliers method. The other technique is based on a torque optimization method which minimizes torques through accelerations, obtained from the null\u2010space of the Jacobian matrix. These accelerations are balanced against the minimum\u2010norm acceleration component in order to improve the performance. Numerical simulations have been carried out which in most cases illustrate good performance capability from the viewpoint of torque optimization and global stability.<\/jats:p>","DOI":"10.1002\/rob.4620080106","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:47:57Z","timestamp":1183718877000},"page":"75-91","source":"Crossref","is-referenced-by-count":34,"title":["Improving local torque optimization techniques for redundant robotic mechanisms"],"prefix":"10.1002","volume":"8","author":[{"given":"Shugen","family":"Ma","sequence":"first","affiliation":[]},{"given":"Shigeo","family":"Hirose","sequence":"additional","affiliation":[]},{"given":"Dragomir N.","family":"Nenchev","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"J.Baillieul J.Hollerbach andR.Brockett \u201cProgramming and control of kinematically redundant manipulators \u201d in Proc. 23rd Conf. on Decision and Control Las Vegas NV 768\u2013774 1984.","DOI":"10.1109\/CDC.1984.272110"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"J. M.HollerbachandK. C.Suh \u201cRedundancy resolution of manipulators through torque optimization \u201d in Proc. IEEE Int. Conf. on Robotics and Automation St Lois Missouri 1016\u20131021 1985.","DOI":"10.1109\/ROBOT.1985.1087285"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087111"},{"key":"e_1_2_1_5_2","unstructured":"K.KazerounianandA.Nedungadi \u201cRedundancy resolution of robotic manipulators at the acceleration level \u201d in 7th IFToMM World Congress Sevilla Spain 1207\u20131211 1987."},{"key":"e_1_2_1_6_2","unstructured":"A.Nedungadi \u201cTorque optimization of redundant manipulators \u201d in Proc. 17th ISIR Chicago Illinois 10\u201365\u201310\u201383 1987."},{"key":"e_1_2_1_7_2","unstructured":"Y.Nakamura \u201cKinematical studies on the trajectory control of robot manipulators \u201d Ph. D. 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