Optimal control of multiple-arm robotic systems using gradient method

Optimal control frameworks are very important in optimization of multiple-arm robotic systems, although complexity, non-linearity and having large scales usually cause some computational problems in the capacity and time needed. In this paper, coordination of multiple-arm robotic systems in order to carry a rigid object is considered and the state space equations for the overall system are developed. Coordination of the robot arms is done through minimizing a related cost function based on the gradient method. This method is simple and easy to be used.