Analysis of Suitable Postures for Robot Manipulator Applying Force using Numerical Optimization Method

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This paper discusses suitable postures for a robot manipulator applying a force. In order to find out the suitable postures, a performance index to estimate the suitableness of a posture of a robot manipulator is defined, and then a constrained optimization problem is formulated; the performance index is minimized under a geometric condition. The suitable posturescan be obtained by solving the constrained optimization problem numerically. Two case studies – obtaining and examining suitable postures for pushing and pulling robots – are conducted. The findings in the case studies reveal that the suitable postures can be classified into two types and the robot manipulators choose one of them depending on the magnitude of the effort force. A force control algorithm based on the results of the numerical analysis provides a capability to generate a large effort force for a robot manipulator. Moreover, by adoption of the force control algorithm, reduction of energy loss is expected.

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