{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:17:22Z","timestamp":1737263842618,"version":"3.33.0"},"reference-count":24,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4941,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1993,9]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>For the dynamic control of kinematically redundant manipulators, conventional approaches to local torque minimization have induced physically unachievable joint torques that may exceed the torque limits in the tracing motion of a long end\u2010effector trajectory. This article presents a new control method for redundant manipulators, named the \u201cNull Torque\u2010Based Dynamic Control\u201d (NTDC), which can guarantee stability for joint torques. The proposed method resolves the redundancy<jats:italic>at the torque level.<\/jats:italic>The command torque induced by the proposed method is composed of two terms: (1) the<jats:italic>minimum\u2010norm torque<\/jats:italic>, which locally minimizes torque loadings at the joints; and (2) the<jats:italic>null torque<\/jats:italic>, which is intermittently added to the minimum\u2010norm torque according to a kinematic criterion to globally reduce excessively large torque requirements. In particular, the concept of null torque is based on the property of<jats:italic>full row\u2010rank minors<\/jats:italic>for a Jacobian matrix\u2014the<jats:italic>aspect<\/jats:italic>that is a function of a manipulator's configuration. The simulation results illustrate that the proposed method is effective for torque optimization when compared with conventional methods.<\/jats:p>","DOI":"10.1002\/rob.4620100603","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:57:00Z","timestamp":1183730220000},"page":"811-833","source":"Crossref","is-referenced-by-count":4,"title":["Null torque\u2010based dynamic control for kinematically redundant manipulators"],"prefix":"10.1002","volume":"10","author":[{"given":"W. J.","family":"Chung","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"W. K.","family":"Chung","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Y.","family":"Youm","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"volume-title":"Generalized Inverse: Theory and Applications","year":"1980","author":"Ben\u2010Israel A.","key":"e_1_2_1_2_2"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","first-page":"868","DOI":"10.1109\/TSMC.1977.4309644","article-title":"Automatic supervisory control of configuration and behavior of multibody mechanism","volume":"7","author":"Li\u00e9geois A.","year":"1977","journal-title":"IEEE Trans, on Systems, Man, and Cybernetics"},{"key":"e_1_2_1_4_2","first-page":"207","volume-title":"Robotics Research\u2014The 2nd International Symposium","author":"Klein C. 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