Development of simplified statics of robot manipulator and optimized muscle torque distribution based on the statics

Statics for a two-link manipulator is re-derived based on the biarticular muscle coordinate in this paper. Torques of two joint-motors to generate a certain force at the endeffector can be calculated in a simple trigonometric function form. A H infinity optimization algorithm is applied to the redundancy problem and minimizes the necessary torque for each muscle. This algorithm can generate novel torque patterns whose peak values are minimized and the maximum torque of the actuators can be set small. The suggested statics provides not only insight to the robot design, but also some interpretation to our body´s muscle activation strategy.