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Abstract: The dynanmic model of cooperative manipulators with
flexible links is developed in absolute coordinates. The forward dynamic
equation of the cooperative system is derived. Assuming the actual, but
not the morninal rigid position of load’s mass center as the boundary
condition, the inverse dynamic model of the cooperative manipulators is
proposed by the force distribution method. With the solution of inverse
dynamic equation, the manipulators can operate the object to track a
desired trajectory accurately. The optimum load distribution and load
capacity are obtained by programming the distribution factors. The
effectiveness of the proposed method is demonstrated through numerical
simulations.
Key words: Flexible manipulator Cooperation Dynamic model Inverse
dynamics Trajectory tracking Load capacity
CLC No: TP242
国家自然科学基金(59975001)和北京市自然科学基金(3012003)资助项目. Received 20010719, received
in revised form 20020620
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