通过施加额外力矩提升协作机械臂任务能力，效果显著。
Task Capability Improvement Algorithm for Collaborative Manipulators
- 在抓取点施加非质心力产生额外力矩，增强单个机械臂能力。
- 仿真显示任务能力提升5.86%，改善整体搬运性能。
- 适合需高鲁棒性与资源优化的协作机器人应用场景。
本文提出一种利用附加力矩提升协作机械臂任务能力的方法。机械臂在物体抓取点施力时，若作用点偏离质心，会产生非期望力矩，该力矩作为附加力矩，能提升单个机械臂的能力，从而增强整个协作系统的能力。任务能力的提升直接转化为对物体的操控和运输能力增强。系统能力的提升还有助于实现最优操作能力、最优资源分配及最大故障容错。仿真结果表明，相较于不使用力矩增强的情况，任务能力提升了5.86%。
原文摘要 · Abstract (English)
This work introduces a cooperative task capability improvement utilizing additional moments. The manipulators apply forces at the object's grasp point. Applying forces at a point other than the object's center of gravity produces undesired moments. The undesired moment acts as an additional moment. It improves the capability of an individual manipulator and, hence, the entire collaborative group. Any improvements in task capability directly add up to the object and transportation capability. The group's enhanced capability also helps achieve optimal capability, optimal resource allocation, and maximum fault tolerance in object manipulation. Our simulation results show an improvement in the capability of 5.86 \% compared to when no moment is used to enhance the capability of the manipulators.
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