Abstract: A novel unified method for computing the dynamic load-carrying
capacity (DLCC) of multiple cooperating robotic manipulators is
developed. In this method, the kinematic constraints and the
governing dynamic equations of the multiple robot system are
formulated in the joint space by using the method of
transference of dependence from one set of generalized
coordinates to another, and the virtual work principle, which
includes the readily available dynamics and joint torques of
individual manipulators, and the dynamic of payload. Based on
this dynamic model, the upper limit of the DLCC at any points on
a given trajectory is obtained by solving a small-size linear
programming problem. This method is conceptually
straightforward, and it is applicable also to the cases of
multi-fingered robot hands and multi-legged walking machines.
Key words: Robotic
manipulators Cooperating Dynamics Load carrying capacity
*
This project
is supported by National Natural Science Foundation of China. Manuscript
received on July 21, 1997; revised manuscript December 10, 1997
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