Time optimal trajectories for cooperative multi-robot systems

A methodology to determine the time-optimal trajectories for cooperative multi-manipulator systems (CMMSs) is described. The dynamics of CMMSs, the joint torque constraints, the constraints on the internal forces, and the distribution of the payload are incorporated into the algorithm. Linear programming techniques are utilized to find the admissible phase plane boundary. Once the admissible phase plane region is found, the actual CMMS time-optimal trajectory can be constructed by employing a similar approach used in single robot minimum time trajectory planning techniques. The minimum-time trajectories which are obtained from the algorithm for a fixed path result in trajectories which do not apply excessive forces on the manipulator object