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COORDINATED DYNAMIC LOAD DISTRIBUTION FOR MULTIPLE ROBOT MANIPULATORS CARRYING A COMMON OBJECT SYSTEM[J]. Chinese Journal of Theoretical and Applied Mechanics, 1999, 31(1): 119-125. DOI: 10.6052/0459-1879-1999-1-1995-013
Citation: COORDINATED DYNAMIC LOAD DISTRIBUTION FOR MULTIPLE ROBOT MANIPULATORS CARRYING A COMMON OBJECT SYSTEM[J]. Chinese Journal of Theoretical and Applied Mechanics, 1999, 31(1): 119-125. DOI: 10.6052/0459-1879-1999-1-1995-013
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COORDINATED DYNAMIC LOAD DISTRIBUTION FOR MULTIPLE ROBOT MANIPULATORS CARRYING A COMMON OBJECT SYSTEM

  • 中国人民解放军军械工程学院

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  • This paper presents an efficient real-time dynamic load (force) distribution method for multiple robot manipulators carrying a common object system. In the coordination for several manipulators sharing an object, a proper load (force) distribution is important. Particularly,to effectively manipulate the object without slipping and crushing, a force that required for the object to follow. the given trajectory must be properly distributed among the manipulators. The dynamic load distribution for cooperating m...
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