This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem and solved efficiently with a guarantee of optimality. When formulating the problem, we avoid using a particular wrench distribution and exploit the full actuation available to the system. Then, we consider the problem for grasps using frictional forces and show that this problem also, under a force-closure grasp assumption, can be formulated as a convex optimization problem and solved efficiently and to optimality. To ensure a firm grasp, internal forces have been taken into account in this approach.
翻译:本文研究了一组携带物体的合作机器人操纵者在时间上的最佳路径跟踪问题。 考虑到僵硬掌握的物体的问题,我们表明,它可以作为一个螺旋桨优化问题,以最佳性保证有效解决。在提出问题时,我们避免使用特定的扳手分布,并充分利用系统现有的充分动力。然后,我们考虑使用摩擦力来抓住问题,并表明,在武力封闭的假设下,这个问题也可以发展成一个螺旋优化问题,以高效和优化的方式加以解决。为了确保牢牢抓住,在这种方法中考虑到了内部力量。</s>