An inverse dynamics algorithm for multiple flexible-link manipulators

It is well known that a system of cooperating manipulators is redundantly a ctuated. This property can be used to actively distribute the loads within the system to achieve better performance. In this paper, the authors formul ate and solve the force distribution problem for multiarm systems with flex ible-link arms, with particular attention to the nonminimum phase character of the system. The solution is attained by optimization where objective fu nctions include the weighted norm of actuator torques, weighted norm of ela stic accelerations, and their combinations. The numerical example shows tha t the proposed force distribution schemes are effective in stabilizing the system vibrations.