Dynamic Modeling of Multiple Cooperating Manipulators

Abstract

Based on influence coefficients theory of multi-closed-loop mechanism theory and virtual work principle, a novel methodology of dynamic modeling with corresponding computed torque control scheme for multiple cooperating robots is proposed. Load distribution principle of minimum squared sum of the joint torques is used. Only joint position and velocity variables are used in this control scheme. A numerical example has been provided to demonstrate the methodology as well as its feasibility.