DYNAMIC CONTROL OF COORDINATED REDUNDANT ROBOTS WITH TORQUE OPTIMIZATION

The problem of controlling a system of coordinated redundant robots wi th torque optimization based on joint redundancy is addressed. Local a nd global optimal control laws, both minimizing joint torque loading, are developed. A general method of load distribution among the coordin ated robots is also proposed. The control problem is to regulate the m otion of the object held by the coordinated robots and the internal fo rce generated as a result of constraints on the object. The errors in the object motion and internal force converge asymptotically to zero u nder the proposed optimal control laws, when exact knowledge of the dy namic models is assumed. Furthermore, the robustness of the proposed m ethod to model uncertainty is also analyzed. The motion and internal f orce errors are uniformly ultimately bounded under the proposed optima l controllers, when uncertainty in the dynamic models is assumed to ex ist.