Load Distribution of Dual ROBOT Coordinated Handling System Based on Minimum Energy Consumption
A load distribution method for a tightly coordinated handling system consisting of two robots was studied with the goal of minimizing energy consumption under the desired trajectory.Firstly,under the expected motion traj-ectory of the object,the relationship between the dynamic load of the object and the joint torque of the robot was de-termined by combining the robotic dynamics and the end effector force constraint relationship of the dual robots.Sec-ondly,taking the sum of squared joint torques of the dual robots as the objective function for optimizing the minimum energy consumption of the system,in order to ensure that the transported object will not deform or be damaged due to excessive internal forces during the transportation process,a specific pseudo inverse of the grasping matrix is in-troduced into the objective function.Then,considering the constraint of robot joint torque,the problem of solving the objective function was transformed into a quadratic nonlinear programming problem,and genetic algorithm was used for optimization.Finally,a coordinated handling system was constructed using two jieka Zu 5 robots.Under the ex-pected handling trajectory,the end force and joint torque of the dual robots were measured.By comparing them with theoretical calculated values,the rationality of load distribution and the effectiveness of energy consumption optimiza-tion schemes were verified.
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维普
