Abstract

The optimal load distribution in multiple robot arm systems, based on minimization of the energy consumption in each collaborating arm, is studied first. Then, for two classes of motion, that is, for trajectory tracking in the joint coordinates and in the object Cartesian coordinates, the corresponding controllers based on the optimal load distribution are developed. Using the joint forces or torques according to the developed controllers can make the actual motion trajectory to asymptotically track the desired trajectory.

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