A New Optimal Force Distribution Scheme of Multiple Cooperating Robots Using Dual Method

Authors:
Woong Kwon;Beom Hee Lee
Affiliations:
School of Electrical Engineering, Automation and Systems Research Institute, Seoul National University, San 56-1, Shinrim-dong, Kwanak-ku, Seoul 151-742, Korea;School of Electrical Engineering, Automation and Systems Research Institute, Seoul National University, San 56-1, Shinrim-dong, Kwanak-ku, Seoul 151-742, Korea
Venue:
Journal of Intelligent and Robotic Systems
Year:
1998

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Abstract

A new optimal force distribution scheme of multiple cooperating robots isproposed, in which the duality theory of nonlinear programming (NLP) iscombined with the quadratic programming (QP) approach. The optimal forcedistribution problem is formulated as a QP problem with both linear andquadratic constraints, and its solution is obtained by an efficientalgorithm. The use of the quadratic constraints is important in that itconsiderably reduces the number of constraints, thus enabling the Dualmethod of NLP to be used in the solution algorithm. Moreover, it can treatnorm constraints without approximation, such as bound of the norm of theforce exerted by each robot. The proposed scheme is more efficient in termsof speed than any other method. Numerical examples of two PUMA robot taskusing the proposed method and a well-known fast method are compared, and theresults indicate the capability of real time application of our method.