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Analysis and Optimization of Grasping Force in the Case of Multi-Robots Cooperation
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Abstract
In this paper we present a methodology for determining the optimal force distribution in case of multiple manipulators system grasping an object. The force distribution problem is formulated in terms of a nonlinear programming problem under equality and inequality constraints. The friction constraints are transformed from non linear inequalities into a combination of linear equalities and linear inequalities. The original non linear constrained programming problem is then transformed into a quadratic optimization problem. Some simulation results are given and the generalization of the approach to multiple manipulators system grasping an object is discussed.
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References
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