Optimal hold and moving force/torque for dual-arm and multi-arm manipulators holding rigid object

In this paper we address two problems which are important for dual-arm and multi-arm manipulators: first, the optimal hold force/torque which can hold the common object without slipping and second the optimal moving force/torque distribution supplied by each arm. We assume that we know the resultant force/torque exerted on the common object by the manipulators, then we develop new algorithms which can determine the optimal hold force/torque mainly based on the static frictional constraints and optimal moving force/torque distribution by minimizing the cost function which is the weighted magnitude of force/torque exerted on the rigid object by the manipulators