LP Based Global Minimization Of Peak Base Reaction Force of Maneuvering Robots

A method for computing the optimal control to minimize a robot's peak base reaction force, while avoiding obstacles, is presented. It contains the manipulator dynamics, initial and final conditions and obstacle constraints. Using the assumption that minimal peak base reaction force control is equal to time-optimal control, an iterative approach is used to find the path and control that globally minimizes the robots peak base reaction force. The conditions for optimality are derived and incorporated into an algorithm which uses linear programming to solve the given problem. Equations describing the system dynamics and the obstacle position are mapped into the center of mass space, a convenient space for path planning. The method is demonstrated for a general maneuver in the center of mass space and for a two-link manipulator which includes obstacle constraints.