This article explores the effect that velocities have on a nonredundant robotic manipulator’s ability to accelerate its end-effector, as well as to apply forces/moments to the environment at the end-effector. This work considers velocity forces, including Coriolis forces, and the reduction of actuator torque with rotor velocity described by the speed-torque curve, at a particular configuration of a manipulator. The focus here is on nonredundant manipulators with as many actuators as degrees-of-freedom. Analysis of the velocity forces is accomplished using optimization techniques, where the optimization problem consists of an objective function and constraints which are all purely quadratic forms, yielding a nonconvex problem. Dialytic elimination is used to find the globally optimal solution to this problem. The proposed method does not use iterative numerical optimization methods. The PUMA 560 manipulator is used as an example to illustrate this methodology. The methodology provides an analytical analysis of the velocity forces which insures that the globally optimal solution to the associated optimization problem is found.

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