paperGoogle Scholar·25 Oct 2026·K Choi, TG Lee, JH Choi, MJ Hwang
Residual Torque Margin-Based Directional Force Capacity for Configuration Control of Redundant Manipulators
A metric for online configuration control of redundant robot arms based on remaining torque margin.
Abstract
International Journal of Control …, 2026 - Springer. This paper proposes a residual-torque-margin-based directional force capacity metric for online configuration control of redundant manipulators. The exact quasi-static …