Minimum-Time Control for Multiple Manipulator Systems

A method is described to solve the minimum-time control problem for coordinated multiple manipulator systems which move a rigid object along a specified path. A parametrized model is used for the dynamics of the system. The minimum time trajectory, the velocities and accelerations of the object along the path are first determined by satisfying the dynamics of the object and the manipulators and the given constraints. Then the actuator torques are selected. The redundant degrees of freedom (DOF) in the multiple manipulator system handling a rigid object may be used to achieve some secondary goals or satisfy additional constraints. The method gives the minimum-time solution for a multiple manipulator system with or without additional constraints or secondary goals. An example is shown to illustrate the use of the method.