Observer based local torque optimization in redundant manipulator

In this paper, an observer based local torque optimization strategy for a redundant manipulator is proposed. The calculation of a local torque optimizing controller becomes more complicated as the number of the degree-of-freedom increases because the pseudo inverse Jacobian matrix is generally used and the controller needs to calculate the null space term and dynamical torque term. To improve this problem, the disturbance observer is applied to simplify the controller calculation. Then, the torque optimizing controller is realized without much effort to calculate the null space term and dynamical effects. Furthermore we can find that the observer based motion controller is designed according to a kind of torque optimization