A real time optimal load distribution for multiple cooperating robots

An efficient solution algorithm of the optimal load distribution problem with joint torque constraints is presented. A multiple robot system where each robot is rigidly grasping a common object is considered. The optimality criterion used is the sum of weighted norm of the joint torque vectors. The maximum and minimum bounds of each joint torque in arbitrary form are considered as constraints, and the solution that reduces internal force to zero is obtained. The optimal load distribution problem is formulated as a quadratic optimization problem in R^l, where l is the number of robots. The general solution can be obtained using any efficient numerical method for quadratic programming, and in particular, for dual robot case, the optimal solution is given in a simple and efficient closed form so that the solution scheme can easily be utilized in the real time control of the dual robot coordination