Generating optimal dynamic motions for closed-chain robotic systems

In a previous work (Chettibi et al., 2004a) we proposed an efficient method to plan optimal motions for serial manipulators and we asserted that this technique could be extended to handle more complex robotic systems. In this paper, we will show the effectiveness of this method in solving the Optimal Free Motion Planning Problem (OFMPP) for Closed-Chain Robots (CCR) and coordination of multiple robotic mechanisms. These are typical examples of holonomic mechanical systems known to be complex but of a large utility. But the fact that these systems are usually redundantly actuated, induces additional complexity in computing their dynamics and generating optimal motions.