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The load distribution problem for two coordinating industrial robots handling a single object is studied. When two industrial robots grasp a single object, the total number of degrees of freedom is usually greater than six. Thus, the joint torques of two robots for a required motion of the object is not unique. The redundant degrees of freedom may be used to optimize certain kind of performance. The least energy consumption is selected as the optimization criterion. Optimal algorithms without and with a bound on the joint torques are investigated. The results show that the algorithms are computationally complicated and not suitable for real-time applications. Alternatively, optimal algorithms are proposed for load distribution with minimum exerted forces on the object. These algorithms require less computational time, which makes them attractive for real-time applications.>
Zheng et al. (Mon,) studied this question.