Energy-Optimal Cooperative Manipulation via Provable Internal-Force Regulation
Christos K. Verginis,Dimos V. Dimarogonas,Christos K. Verginis,Dimos V. Dimarogonas
This paper considers the optimal cooperative robotic manipulation problem in terms of energy resources. In particular, we consider rigid cooperative manipulation systems, i.e., with rigid grasping contacts, and study energy-optimal conditions in the sense of minimization of the arising internal forces, which are inter-agent forces that do not contribute to object motion. Firstly, we use recent res...
