J-minor based dynamic control (JMDC) for kinematically redundant manipulators

This paper presents a real-time dynamic control method for kinematically redundant manipulators. The proposed method aims at reducing excessive joint torques, which have caused the instability of conventional local torque minimization algorithms, by preserving the signs of full row rank minors of the manipulator Jacobian. It is shown by computer simulations that these minors have close relation with the dynamics of redundant manipulators, which has not been treated carefully. The proposed method is found to be effective for torque reduction when compared with conventional approaches including the inertia-weighted pseudoinverse method, the null space vector method, and the redundancy decomposition control method