A new formulation technique for local torque optimization ofredundant manipulators

A new formulation technique called “torque-based formulation” for the local torque optimization of redundant manipulators is introduced in this paper. The formulation based on joint torques makes the pseudoinverse and recursive techniques possible to local torque optimization. The local torque optimization approaches that are formulated on the basis of the proposed formulation technique are simple in formulation and are efficient in computational cost. Equivalence between the proposed solutions for local torque optimization and the conventional solutions is also proven analytically