Load distribution and joint trajectory planning of coordinated manipulation for two redundant robots

被引：15

作者：

Zhao, J ^{[1
]}

Bai, SX ^{[1
]}

机构：

[1] Beijing Polytech Univ, Dept Basic Sci, Beijing 100022, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 1999年 / 34卷 / 08期

关键词：

D O I：

10.1016/S0094-114X(98)00064-0

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this article, the problems of load distribution and joint trajectory planning in the coordinated manipulation of two redundant robots are researched. First, three optimal schemes, minimum load method, minimum torque method and multiple criterion method, are proposed. Because the quadratic programming is avoided in these methods, the computation amount is reduced greatly so that they are feasible for real-time control. Besides, the computation stability and global characteristics of these methods are improved obviously by using multiple criteria (including joint accelerations). Then, a simulation example for two planar 3R redundant robots handling a single object is presented and simulation results are analysed intensively. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：1155 / 1170

页数：16

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