A new optimal force distribution scheme of multiple cooperating robots using dual method (Q1383984)

The present paper proposes a new optimal force distribution scheme of multiple cooperating robots, 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. These quadratic constraints are useful in the sense that they make the application of the Dual method of NLP possible by reducing the number of constraints, and they can directly handle the norm constraints without approximation. The problem is solved through the help of an efficient solution algorithm. Numerical examples of two PUMA robot tasks using the proposed method and a well-known fast method are compared. The results indicate the capability of real time application of the method.