Abstract
To solve the problem of dynamic load distribution in multi-robotic grasping system, a load distribution method based on parameterized generalized grasping inverse matrix is proposed. Firstly, the kinematics and force analysis of the multi-robot grasping system is carried out, dividing the grasping force into external force and internal force; then, the dynamic manipulability of serial robot is quantified by using acceleration ellipsoid, based on which the load distribution coefficient is determined; the virtual mass and virtual inertia of the object and multi-robot system are defined, and the parameterized generalized grasping inverse matrix is established by combining the dynamic manipulability. It is proved that the proposed method can satisfy the load distribution mode without internal force. Simulation and experiments show that the proposed method can adjust the output of the wrench at the end effector of multi-robots, effectively avoiding the overload of the robot joints, and realize the dynamic load distribution of the multi-robotic grasping system.
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Li, Y., Geng, L., Han, J., Jia, J., Li, J. (2022). A Dynamic Load Distribution Method for Multi-Robot. In: Nakamatsu, K., Kountchev, R., Patnaik, S., Abe, J.M., Tyugashev, A. (eds) Advanced Intelligent Technologies for Industry. Smart Innovation, Systems and Technologies, vol 285. Springer, Singapore. https://doi.org/10.1007/978-981-16-9735-7_45
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DOI: https://doi.org/10.1007/978-981-16-9735-7_45
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