Optimal trajectories and force distribution for cooperating arms

The optimization of trajectories and actuator torques for a dual arm manipulation system is considered. Given the starting and final configurations, we find the trajectories that minimize: (a) the integral of the norm of the vector of derivatives of the actuator forces; and (b) the integral of the norm of the actuator forces. In this way both kinematic and actuator redundancy are resolved. The optimization problem reduces to solving a two-point boundary valve problem for coupled, nonlinear differential equations. The effect of different parameters such as preload and inertia are investigated and the results are compared with those obtained using other well-known cost functions.