NDLI: An improved load distribution scheme for coordinating manipulators

Content Provider	IEEE Xplore Digital Library
Author	Lu, W.-S. Meng, Q.-H.M.
Copyright Year	1993
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Victoria Univ., BC, Canada (Lu, W.-S.)
Abstract	As joint torques provided by actuators are bounded, load distribution in multiarm systems have typically been considered as constrained optimization problems. By introducing an objective function that linearly combines the total system energy consumed with the maximum normalized torque by an adaptive weighting factor, the authors obtain a two-loop load distribution scheme for minimizing the total system energy spent while ensuring that the maximum torque does not exceed the upper bound. Constraints are eliminated, so that a variety of well-established unconstrained optimization algorithms can be used to solve the problem more efficiently than their constrained counterparts. A case study is included to illustrate the scheme.
Starting Page	523
Ending Page	528
File Size	408819
Page Count	6
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.292032
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Constraint optimization Torque Upper bound Robot sensing systems Lakes Hydraulic actuators Linear programming Distribution strategy Closed-form solution
Content Type	Text
Resource Type	Article

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An improved load distribution scheme for coordinating manipulators