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Considering smooth, human\u2010like (anthropomorphic) movements, using joint motion profiles achievable in real time as well as sensory information from all joints, and evaluating the total work expended by each manipulator joint during the execution of a movement strategy, a minimum effort motion trajectory is synthesized to precisely and efficiently position the robotic arm end\u2010effector. This sensor\u2010based approach significantly reduces the computational requirements for such cooperative motion. The minimum effort control algorithm generates several human\u2010like arm movement strategies and selects the best strategy on the basis of expendable effort. The algorithm has an inherent basis to deal with obstacles in an efficient way. Detailed examples are described from the simulation studies. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110105","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:19:29Z","timestamp":1183731569000},"page":"21-40","source":"Crossref","is-referenced-by-count":0,"title":["Minimum effort factor approach for sensor\u2010based control of a four\u2010joint 6\u2010dof redundant manipulator"],"prefix":"10.1002","volume":"11","author":[{"given":"Srinivasa R.","family":"Malladi","sequence":"first","affiliation":[]},{"given":"Kimon P.","family":"Valavanis","sequence":"additional","affiliation":[]},{"given":"Michael C.","family":"Mulder","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"M. C.Mulder S. R.Malladi S. 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