New Algorithm Lets Robot Teams Lift Objects Faster and More Efficiently
Researchers have developed a mathematical approach that allows multiple robotic arms to coordinate perfectly when carrying shared loads—solving the problem in the fastest possible time. For manufacturers relying on collaborative robots, this means faster production cycles and the ability to handle heavier, more complex tasks without adding more equipment.
Originaltitel: Time-optimal path tracking for cooperative manipulators: A convex optimization approach?
<p>This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem and solved efficiently with a guarantee of optimality. When formulating the problem, we avoid using a particular wrench distribution and exploit the full actuation available to the system. Then, we consider the problem for grasps using frictional forces and show that this problem also, under a force-closure grasp assumption, can be formulated as a convex optimization problem and solved efficiently and to optimality. To ensure a firm grasp, internal forces have been taken into account in this approach.</p>