{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,3,14]],"date-time":"2024-03-14T04:33:48Z","timestamp":1710390828057},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2001,4,5]],"date-time":"2001-04-05T00:00:00Z","timestamp":986428800000},"content-version":"unspecified","delay-in-days":1131,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1998,3]]},"abstract":"<jats:p>The minimization of the joint torques based on the \u221e-norm is proposed for the dynamic control of a kinematically redundant manipulator. The \u221e-norm is preferred to the 2-norm in the minimization of the joint torques since the maximum torques of the actuators are limited. To obtain the minimum \u221e-norm torque solution, we devised a new algorithm that uses the acceleration polyhedron representing the end-effector's acceleration capability. Usually the minimization of the joint torques has an instability problem for the long trajectories of the end-effector. To suppress this instability problem, an inequality constraint, named the feasibility constraint, is developed from the geometrical relation between the required end-effector acceleration and the acceleration polyhedron. The minimization of the \u00b0-norm of the joint torques subject to the feasibility constraint is shown to improve the performances through the simulations of a 3-link planar redundant manipulator.<\/jats:p>","DOI":"10.1017\/s0263574798000526","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"193-205","source":"Crossref","is-referenced-by-count":37,"title":["Stabilized minimum infinity-norm torque solution for redundant manipulators"],"prefix":"10.1017","volume":"16","author":[{"given":"Ick-Chan","family":"Shim","sequence":"first","affiliation":[]},{"given":"Yong-San","family":"Yoon","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2001,4,5]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574798000526","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,11]],"date-time":"2019-05-11T19:01:19Z","timestamp":1557601279000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574798000526\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1998,3]]},"references-count":0,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1998,3]]}},"alternative-id":["S0263574798000526"],"URL":"https:\/\/doi.org\/10.1017\/s0263574798000526","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1998,3]]}}}