Optimal grasping force distribution for three robots holding a rigid object

In this paper we present a methodology for optimal force distribution calculation for the multiple manipulators system grasping an object.We consider for this case three robots holding a common rigid object 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 formulated in terms of a nonlinear programming problem under equality and inequality constraints. Then, according to [1],[2],[3] and [4] the friction constraints are transformed from non linear inequalities into a combination of linear equalities and linear inequalities. The original non linear constrained programming problem is then transformed into a quadratic optimization problem. Some simulation results are given to show the efficiency and accuracy of the proposed methodology and perspectives on multiple manipulators system grasping an object control are discussed.

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