Study of Dynamic Analysis and Optimization for Control of Two Robots Simultaneously Grasping a Rigid Body Object

강체를 함께 쥔 두 대 로봇의 제어를 위한 동력학적 해석과 최적화 방안 연구

This paper presents a method of finding optitnal joint torques of two robots when they hold an object simultaneously. Although the importance of the multiple cooperating robot system increases for more flcviblc ni;mufacturing automation, dynamic solutions to multi-robot system forming closcd kinematic chain is not easy to find. Newton-Eulcr approach is used for the dynamic formulation of two robots fonn~ng closcd kincmatic chains gmsping a rigid body object. The nrcthodology to optimize the joint torques to satisfy given criterta and obtain bettcr control of the system is discussed. The scheme is illustrated by an example.