Posture optimization in a dual-redundant robotic control system with applications to automation

摘要

Robotic posture optimization and control is an important issue for industrial applications, particularly for the automobile assembly line automation workcells. The optimal posture means that a robot reaches the best configuration in order to operate on a force-related task. It can be modeled as an even joint-torque distribution problem. Through the model, four possible potential functions are developed for the posture optimization in a redundant robotic system. One of the four shows higher effectiveness than others in a simulation study. These potential functions can be more suitably applied to a dual-redundant robotic system for its multi-subtask optimization aided by a nonlinear null space control scheme for the subtask weighting factors determination.