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Optimal load distribution for two cooperating robots using a force ellipsoid

Published online by Cambridge University Press:  09 March 2009

Myoung Hwan Choi ,
Bum Hee Lee  and
Myoung Sam Ko
Myoung Hwan Choi
Affiliation:
Automation and Systems Research Institute and Dept. of Control and Instrumentation Eng.Seoul National University, Shinrim-dong, Kwanak-ku, Seoul (Korea)
Bum Hee Lee
Affiliation:
Automation and Systems Research Institute and Dept. of Control and Instrumentation Eng.Seoul National University, Shinrim-dong, Kwanak-ku, Seoul (Korea)
Myoung Sam Ko
Affiliation:
Automation and Systems Research Institute and Dept. of Control and Instrumentation Eng.Seoul National University, Shinrim-dong, Kwanak-ku, Seoul (Korea)
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Summary

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.

Keywords

Load distributionDual robot armsForce ellipsoidManipulability ellipsoid.
Type
Research Article
Information
Robotica , Volume 11 , Issue 1 , January 1993 , pp. 61 - 72
Copyright
Copyright © Cambridge University Press 1993

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