Minimization of Power Losses in Cooperating Manipulators

The control of multiple manipulators handling a common payload entails the solution of an underdetermined system of linear equations which represents the system´s dynamics. The present work investigates an approach for minimizing the power losses in systems of cooperating manipulators. It is shown that the power imparted to the manipulator/payload system cannot be optimized once the system´s motion is prescribed. However, assuming certain loss characteristics for the dc servomotors commonly used on robotic manipulators, it is shown that the minimization of power losses can be cast as a quadratic optimization problem. Local and global performance indices are introduced to allow comparison of the minimum power loss and the minimum internal force approaches. An example of two Puma 560 robots handling a common payload is shown to demonstrate the proposed technique.