Hostname: page-component-cd9895bd7-gbm5v Total loading time: 0 Render date: 2024-12-25T05:10:41.938Z Has data issue: false hasContentIssue false
  • English
  • Français

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)
Get access Rights & Permissions [Opens in a new window]

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

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Cheng, Fan-Tien and Orin, David E., “Efficient Algorithm for Optimal Force Distribution—The Compact-Dual LP Method” IEEE Trans, on Robotics and Automation RA-6, 178–187 (Apr. 1990).CrossRefGoogle Scholar
2.Cheng, Fan-Tien and Orin, David E., “Optimal Force Distribution in Multiple-Chain Robotic Systems” IEEE Trans, on System, Man, and Cybernetics SMC-21, 13–24 (01/02. 1991).CrossRefGoogle Scholar
3.Cheng, Fan-Tien and Orin, David E., “Efficient Formulation of the Force Distribution Equations for Simple Closed-Chain Robotic Mechanisms” IEEE Trans, on System, Man, and Cybernetics, SMC-21, 25–32 (01/02 1991).CrossRefGoogle Scholar
4.Klein, Charles A. and Kittivatcharapong, Sakon, “Optimal Force Distribution for the Legs of a Walking Machine with Friction Cone Constraints,” IEEE Trans, on Robotics and Automation, RA-6, 73–85 (02 1990).CrossRefGoogle Scholar
5.Zheng, Yuan F. and Luh, J.Y.S., “Optimal Load Distribution for Two Industrial Robots Handling a Single Object” IEEE Int. Conf. on Robotics and Automation 344–349 (1988).Google Scholar
6.Pittelkau, Mark E., “Adaptive Load-sharing Force Control for Two-arm Manipulators” IEEE Proc. Int. Conf. on Robotics and Automation 498–503 (1988).Google Scholar
7.Carignan, Craig R. and Akin, David L., “Cooperative Control of Two arms in the Transport of an Inertial Load in Zero gravity,” IEEE J. Robotics and Automation RA-4, 414–419 (1988).CrossRefGoogle Scholar
8.Albert, Thomas E. and Soloway, Donald I., “Force control of a Multi-Arm Robot System” IEEE Int. Conf. on Robotics and Automation 1490–1496 (1988).Google Scholar
9.Hsu, Ping, “Control of Multi-Manipulator System—Trajectory Tracking, Load Distribution, Internal Force Control, and Decentralized Architecture” IEEE Proc. Int. Conf. on Robotics and Automation 1234–1245 (1989).Google Scholar
10.Samad, “Hybrid Position/Force control of Multi-Arm Cooperating Robots” IEEE Int. Conf. on Robotics and Automation 82–89 (1988).Google Scholar
11.Shin, Y.D. and Chung, M.J., “Exerted Force Minimization for Weak Points in Cooperating Multiple Robot Arms” Korea Automatic Control Conference. (1990) pp 1167–1172.Google Scholar
12.Bazaraa, Mokhtar S. and Shetty, C.M., Nonlinear Programming: Theory and Algorithms (John Wiley & Sons, New York, 1979).Google Scholar
13.Luenberger, David G., Linear and Nonlinear Programming, second edition (Addison-Wesley, Wokingham, UK, 1984).Google Scholar
14.Fu, K.S., Gonzalez, R.C., and Lee, C.S.G., ROBOTICS: Control, Sensing, Vision, and Intelligence (McGraw-Hill, New York, 1987).Google Scholar
15.Craig, John J., Introduction to Robotics: Mechanics & Control (Addison Wesley, Wokingham, UK, 1986).Google Scholar