Minimum torque load distribution method in a dual robot system

摘要

The present invention relates to a minimum torque load distribution method in a dual robot system.;The present invention relates to a method for determining a force required to move an object, when a moving path and a velocity of the object are given; Determining Pi and Mi required from the desired specific gravity matrix and the movement path; Determining an optimal load distribution factor; Determining a minimum torque required by a predetermined robot by the optimum load distribution coefficient; And supplying the torque to the motor of the robot.;Thus, since the optimum load distribution coefficient is obtained and applied to the system, it is possible to minimize unnecessary energy loss by minimizing the torque in the robot driving unit.