OPTIMAL LOAD DISTRIBUTION FOR 2 COOPERATING ROBOTS USING A FORCE ELLIPSOID

被引：7

作者：

CHOI, MH

LEE, BH

KO, MS

机构：

[1] Automation and Systems Research Institute, Dept. of Control and Instrumentation Eng, Seoul National University, Seoul, Shinrim-dong, Kwanak-ku

来源：

ROBOTICA | 1993年 / 11卷

关键词：

LOAD DISTRIBUTION; DUAL ROBOT ARMS; FORCE ELLIPSOID; MANIPULATABILITY ELLIPSOID;

D O I：

10.1017/S0263574700015447

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The concept of the force ellipsoid and the manipulability ellipsoid of robotic mechanism is extended to two cooperating robot arms, and the equations of the dual arm force and manipulability ellipsoids are derived. The load distribution problem for two cooperating robots is studied using the concept of the force ellipsoid. The problem is usually underspecified mathematically and a variety of optimal solutions may exist. A new solution approach utilizing the force ellipsoid is proposed in this paper. The load distribution problem is formulated as a nonlinear optimization problem with a quadratic cost function and inequality constraints. The optimality criterion is the minimum energy, and two different cases are considered depending on the presence of the constraints on joint torques. In the first case, the torque constraints are not included, and in the second, the maximum value of the robot energy is considered in solving the optimization problem. The optimal solution is obtained almost as a closed form, in which the joint torques are given in terms of a single scalar parameter that can be obtained numerically by solving a scalar equation.

引用

页码：61 / 72

页数：12

共 38 条

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