Manipulability-Based Load Allocation and Kinematic Decoupling in Cooperative Manipulations

This paper addresses two common cooperative robotic manipulation limitations: constant load distribution among the robotic manipulators and coupled kinematic parameters. First, instead of assigning a constant load to the robots, the manipulating performance can be optimized using a proposed dynamic load allocation strategy based on the real-time force manipulability measure. Second, the normally-coupled complete pose, translational and angular position (represented by the unit quaternion), are decoupled, which allows for the desired position and orientation of the end effector to be assigned independently. Simulations are performed with two planar 3-DOF manipulators, which demonstrate the improved manipulating performance under the new dynamic load distribution and kinematic decoupling technique.