This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem and solved efficiently with a guarantee of optimality. When formulating the problem, we avoid using a particular wrench distribution and exploit the full actuation available to the system. Then, we consider the problem for grasps using frictional forces and show that this problem also, under a force-closure grasp assumption, can be formulated as a convex optimization problem and solved efficiently and to optimality. To ensure a firm grasp, internal forces have been taken into account in this approach.

翻译：本文研究了一组协作机器人机械臂搬运物体时的时间最优路径跟踪问题。针对刚性夹持物体的情形，我们证明该问题可转化为凸优化问题，并能在保证最优性的前提下高效求解。在问题建模过程中，我们避免使用特定的力分配方式，而是充分利用系统可用的全部驱动力。随后，我们考虑了基于摩擦力的夹持问题，并证明在力封闭夹持假设下该问题同样可转化为凸优化问题，且能高效求解至最优解。为确保夹持的稳固性，该方法中纳入了内力的考量。