Y.-Q. Yu and C.-X. Zhang
Cooperation system, flexible robot, constrained object, dynamic modelling
The cooperation system of flexible robots manipulating constrained objects is a very complicated and challenging problem in the study of robotics. In this paper, the dynamic model of the system is developed in the absolute coordinates. The kinematic and dynamic constraints among the manipulators, object, and working surface are included in the dynamic equation of the system. Dynamic analyses of the system are presented to determine the motion of object and the input of robot for a desired task. The effectiveness and advantages of the method proposed in the paper are illustrated in a numerical simulation of two planar 3R flexible robot arms manipulating a constrained rigid object.
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