多机械臂搬运同一物体的协调动态载荷分配

针对多机械臂共同搬运同一物体形成闭运动链的协调系统，研究了多机械臂协调动态载荷分配存在冗余情况下的实时性分配方法文中提出了“应集中惯性质量棒”的概念，进而根据各机械臂的承载能力，采用线性加权的方法发展了一种操作物体质心处零内力的载荷分配原则。最后给出了系统载荷分配的解析表达式，有效地解决了多机械臂搬运同一物体时其动态载荷分配的实时性问题。

COORDINATED DYNAMIC LOAD DISTRIBUTION FOR MULTIPLE ROBOT MANIPULATORS CARRYING A COMMON OBJECT SYSTEM

This paper presents an efficient real-time dynamic load (force) distribution method for multiple robot manipulators carrying a common object system. In the coordination for several manipulators sharing an object, a proper load (force) distribution is important. Particularly,to effectively manipulate the object without slipping and crushing, a force that required for the object to follow. the given trajectory must be properly distributed among the manipulators. The dynamic load distribution for cooperating multiple robot manipulators has multiple solutions. In order to resolve the problem that there is redundant solution on the dynamic load distribution for multiple robot manipulators carrying a common object system, a load distribution method of zero internal force on the "lass center of object is proposed. In the proposed method, a new concept of the virtual concentrated inertia and mass stick is defined as thers were concentrated mass and concentrated inertia tensor at one end of the rigid stick without mass, and its dynamics equation is given by use of the d'Alembert's principle. Subject to the bearing capacity of each robot manipulator, the analytical formulation of the dynamic load distribution for the system is given by a linear weighting algorithm. The dynamics characteristic of system for multiple robot manipulators carrying an object is analyzed in this paper. The resultant force is the sum of force vectors applied to the object contributing directly to the motion of the object, and the internal force represents a part of the force vector that does not contribute to the motion. The resultant force and internal force of the object related to the force vectors are formulated, so that the motion and contact force and internal force of the system may be controlled simultaneously. The problem of dynamic load real-time distribution for multiple robot manipulators carrying a common object system is resolved effectively.