OPTIMAL INTERNAL FORCE COMPUTING SCHEME FOR MULTIPLE MANIPULATORS USING GENETIC ALGORITHMS
WANG Cong-qing1, YIN Chao-wan2
1. Dept. of Automatic Control, Nanjing University of Aeronautics an d Astronauts Nanjing 210016; 2. Robotics Laboratory, Chinese Academy of Science, Shenyang 110015
Abstract：In this paper, based on analysis of static forces for multiple manipulators, a computing scheme for dynamic optimal internal force is presented by mixed genetic-simulated annealing algorithms, in which the maximum force constraints and the static frictional constraints at contacts points are considered as optimizing conditions. Optimal computing results of internal force and load distribution a regiven by the simulation of planar dualmanipulators holding a load.
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