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Dynamic modeling and simulation of two cooperating structurally-flexible robotic manipulators

Published online by Cambridge University Press:  09 March 2009

K. Krishnamurthy  and
L. Yang
K. Krishnamurthy
Affiliation:
Department of Mechanical and Aerospace Engineering and Engineering Mechanics, University of Missouri-Rolla, Rolla, MO 65401-0249 (USA)
L. Yang
Affiliation:
Department of Mechanical and Aerospace Engineering and Engineering Mechanics, University of Missouri-Rolla, Rolla, MO 65401-0249 (USA)
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Summary

A dynamic model for two three-link cooperating structurally-flexible robotic manipulators is presented in this study. The equations of motion are derived using the extended Hamilton's principle and Galerkin's method, and must satisfy certain geometric constraints due to the closed chain formed by the two manipulators and the object. The dynamic model presented here is for the purpose of designing controllers. Therefore, a low-order model which captures all the major effects is of interest. Computer simulated results are presented for the case of moving an object along an elliptical path using the two cooperating flexible manipulators.

Keywords

Cooperating robotsDynamic modellingFlexible manipulatorsMotion control
Type
Articles
Information
Robotica , Volume 13 , Issue 4 , July 1995 , pp. 375 - 384
Copyright
Copyright © Cambridge University Press 1995

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