OPTIMAL INTERNAL FORCE COMPUTING SCHEME FOR MULTIPLE MANIPULATORS USING GENETIC ALGORITHMS

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.