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 nal conngurations, we nd 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 value problem for coupled, non-linear diierential equations. The eeect of diierent parameters such as preload and inertia are investigated and the results are compared with those obtained using other well-known cost functions.