Local torque optimization of redundant manipulators in torque-based formulation

New formulation technique for the local torque optimization of redundant manipulators was presented in this paper. The local torque optimization approaches that are formulated on the basis of joint torques, are simple in formulation and are efficient in computational cost. This formulation based on joint torques can easily be adopted onto the torque control approaches as impedance control and compliance control, moreover makes easily to consider joint torque limits in the torque control approaches. In addition, equivalence between the proposed formulation and the conventional ones was also proven analytically