Global minimization of robot base reaction forces during point to point moves

Abstract

This paper presents a path optimization scheme that minimizes reaction forces at the base of the robot in a gravity-free environment during point to point motions. The analysis assumes the mass of the robot is constant during the motion. Both global minimization of the peak force and the integral of the base forces squared are addressed. Further, the effect of a limit on the maximum acceptable force is discussed. In a gravity environment, the path developed using these techniques minimizes base reaction force changes. The algorithms presented are based on a center of mass control scheme. The algorithms are applicable to nonredundant robots and are believed to support real-time implementation. (Author)