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Abstract：
The planning scheme of joint torques was discussed by optimizing the joint self-motion of manipulators. The improved optimization method was presented in which the combination of joint torques and endpoint errors was determined as optimal objective and the joint self-motion variables were considered as constants. The numerical simulation of a 4R spatial manipulator shows that the method is effective.
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China Mechanical Engineering
ISSN： 1004-132X
Year： 2005
Issue： 15
Volume： 16
Page： 1369-1373
Cited Count：
WoS CC Cited Count： 0
SCOPUS Cited Count：
ESI Highly Cited Papers on the List： 0 Unfold All
WanFang Cited Count：
Chinese Cited Count：
30 Days PV： 7
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