Optimal load allocation control in ladder environment with contact stiffness considered

This paper proposes an optimal load allocation control in ladder environment with environmental stiffness considered. The optimal load allocation control focuses on how to allocate the total load of the robot to the joints on supporting limbs. Since the supporting force is influenced by the stiffness of contact system and the deformation of rungs and robot links. We maintain the optimized supporting force by setting the request deformation to the contact system. The stiffness of contact system is predicted automatically in our control method. The planned motion is modified in real time by compensating for the deformations caused by the supporting forces. The proposed control algorithm is verified by the simulation results.