Time-Optimal Control of Two Robots Holding the Same Workpiece

[+] Author and Article Information
J. E. Bobrow, J. M. McCarthy, V. K. Chu

Department of Mechanical Engineering, University of California, Irvine, Irvine, California 92717

J. Dyn. Sys., Meas., Control 115(3), 441-446 (Sep 01, 1993) (6 pages) doi:10.1115/1.2899121 History: Received April 19, 1990; Revised August 28, 1992; Online March 17, 2008


An algorithm is given which minimizes the time for two robots holding the same workpiece to move along a given path. The unique feature of these systems is that they have more actuators than degrees of freedom. The method can be applied to any constrained robot system, including the case where one robot arm moves in contact with a surface. In addition to finding the optimum torque histories, the algorithm determines the optimum contact force between the each robot and the workpiece throughout the motion. Constraints on these internal forces are easily introduced into the algorithm.

Copyright © 1993 by The American Society of Mechanical Engineers
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