Sub-time-optimal trajectory plannings for cooperative multi-manipulator systems using the load distribution scheme

Abstract

In this paper, we present a sub-time-optimal trajectory planning scheme for cooperative multi-manipulator system (CMMS). We assume that the desired path is given and is parameterizable by an arclength function. We try to find the load distribution factors which divide the given load into each share of manipulators in CMMS in a time-optimal manner. This approach uses a specific generalized inverse and an optimization search scheme, for example, a linear search algorithm for the dual robots case. Compared with the time-optimal trajectory planning approaches which are required to employ the linear programming method, this sub-optimal method requires only a fraction of computation time. In a limited case, this approach becomes the true timeoptimal method for cooperative multimanipulators.