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An optimal force distribution scheme for cooperating multiple robot manipulators

Published online by Cambridge University Press:  09 March 2009

Yong Dal Shin  and
Myung Jin Chung
Yong Dal Shin
Affiliation:
Department of Electrical Engineering, Korea Advanced Institute of Science and TechnologyP.O. Box 150, Cheongryang, Seoul (Korea)
Myung Jin Chung
Affiliation:
Department of Electrical Engineering, Korea Advanced Institute of Science and TechnologyP.O. Box 150, Cheongryang, Seoul (Korea)
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Summary

In this paper, we suggest an optimal force distribution scheme by weak point force minimization and we also present an efficient method to solve the problem. The concept of a weak point is a generalized one which is applicable to any points of interest, as well as joints or contact points between end-effectors and an object. The problem is formulated by a quadratic objective function of the forces exerted at weak points subject to the linear equality and inequality constraints, and its optimal solution is obtained by an efficient method. As regards the solution of the problem, the original problem is reformulated to a reduced order dual problem after the equality constraints are eliminated by force decomposition.

Keywords

Optimal forceWeak pointMultiple robotsFragile parts.
Type
Research Article
Information
Robotica , Volume 11 , Issue 1 , January 1993 , pp. 49 - 59
Copyright
Copyright © Cambridge University Press 1993

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