2010
IMAACA 2010 Proceeding
Optimal grasping force distribution for three robots holding a rigid object
Authors: Ammar Khadraoui, Chawki Mahfoudi, Abdelouahab Zaatri, Karim Djouani
Abstract
In this paper we present a methodology for optimal force distribution calculation for the multiple manip- ulators system grasping an object.We consider for this case three robots holding a common rigid ob- ject with three contact points , where the object can translate and rotate in any directions. This approach is used in the case of real time dynamics object force control. The force distribution problem is formu- lated in terms of a nonlinear programming problem under equality and inequality constraints. Then, ac- cording to [1],[2],[3] and [4] the friction constraints are transformed from non linear inequalities into a combination of linear equalities and linear inequal- ities. The original non linear constrained program- ming problem is then transformed into a quadratic optimization problem. Some simulation results are given to show the efficiency and accuracy of the pro- posed methodology and perspectives on multiple ma- nipulators system grasping an object control are dis- cussed.
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