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.
['K. Krishnamurthy', 'L. Yang']
Dynamic modeling and simulation of two cooperating structurally-flexible robotic manipulators