내부힘을 고려한 두 로봇의 최적 부하 분배 문제의 기하학적 접근

Abstract

The load distribution problem of two cooperating robots grasping one object is studied. The optimal joint torque needed for the desired motion is obtained by using a new objective function. A new objective function is defined for the minimization of joint torque effort and internal force. The optimal solution can be found by geometrical approach and analysis using the concept of force ellipsoid. Simulation results are presented with 6DOF PUMA robots.