A dynamic-aware 'residual force polytope' is introduced to represent the task-space forces a robot can resist during a planned motion, and it is used as a trajectory optimization objective to improve robustness.
Yoshikawa, Manipulability of Robotic Mechanisms, The International Journal of Robotics Research (IJRR) 4 (2) (1985)
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Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories
A dynamic-aware 'residual force polytope' is introduced to represent the task-space forces a robot can resist during a planned motion, and it is used as a trajectory optimization objective to improve robustness.