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A New Optimal Force Distribution Scheme of Multiple Cooperating Robots Using Dual Method

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Abstract

A new optimal force distribution scheme of multiple cooperating robots is proposed, in which the duality theory of nonlinear programming (NLP) is combined with the quadratic programming (QP) approach. The optimal force distribution problem is formulated as a QP problem with both linear and quadratic constraints, and its solution is obtained by an efficient algorithm. The use of the quadratic constraints is important in that it considerably reduces the number of constraints, thus enabling the Dual method of NLP to be used in the solution algorithm. Moreover, it can treat norm constraints without approximation, such as bound of the norm of the force exerted by each robot. The proposed scheme is more efficient in terms of speed than any other method. Numerical examples of two PUMA robot task using the proposed method and a well-known fast method are compared, and the results indicate the capability of real time application of our method.

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Authors and Affiliations

  1. School of Electrical Engineering, Automation and Systems Research Institute, Seoul National University, San 56-1, Shinrim-dong, Kwanak-ku, Seoul, 151-742, Korea

    Woong Kwon & Beom Hee Lee

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  1. Woong Kwon
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  2. Beom Hee Lee
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Kwon, W., Lee, B.H. A New Optimal Force Distribution Scheme of Multiple Cooperating Robots Using Dual Method. Journal of Intelligent and Robotic Systems 21, 301–326 (1998). https://doi.org/10.1023/A:1007917003845

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  • DOI: https://doi.org/10.1023/A:1007917003845

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