多机器人系统无内力抓取动载实时规划的研究

当机器人系统在协调操作一个物体时，为防止物体在操作过程中产生太大的变形，在驱动电机约束条件下，提出了一种无内力动载实时规划的方法。该方法首先基于物体空间，把求解动载分配系数的问题转化为二次非线性规划问题，然后基于关节空间确定机器人各个关节输入力矩。最后以两个机器人协同搬运一物体为例，进行了无内力抓取动载实时规划。该方法简单易行，适应于多机器人系统实时控制。

Study on Real-time Distribution of Dynamic Lood With Nonsqueezing Grasp for Multiple cooperating Robots

For multiple coorperating robots,an efficient solution algorithm of the optimal load distribution problem with joint torque constraints is presented.This algorithm can avoid the object damage when multiple robots manipulating the object.The optimal load distribution problem is formulated as a quadratic optimization problem in object space.We can get the joint torques by load distribution scalar variables.For the case of two planar robots manipulating a single object,the optimal solution is given in a simple and efficient closed form so that the solution scheme can be easily be utilized in the real time control of the two robots coordination.