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Dynamic model and simulation of cooperative robots: a case study

Published online by Cambridge University Press:  23 August 2005

Jorge Gudiño-Lau  and
Marco A. Arteaga
Jorge Gudiño-Lau
Affiliation:
Departamento de Control y Robótica, División de Ingeniería Eléctrica de la Facultad de Ingeniería Universidad Nacional Autónoma de México México, D. F., 04510, (México)
Marco A. Arteaga
Affiliation:
Departamento de Control y Robótica, División de Ingeniería Eléctrica de la Facultad de Ingeniería Universidad Nacional Autónoma de México México, D. F., 04510, (México)
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Abstract

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Cooperative robots are usually required in flexible manufacturing systems or complex working environments. In particular, when an object under processing is too big or too heavy, a single robot may not be enough to handle it. Two or more manipulators are to be used in such a case. This paper presents the study of the dynamic equations for two industrial robots holding a rigid object. To this end, holonomic constraints are combined with the manipulators and object equations of motion to obtain the dynamic model of the whole system, which can be used for simulation purposes. Experimental results are presented to validate the theoretical results.

Keywords

Modeling Cooperative robotsSimulationExperimental results
Type
Research Article
Information
Robotica , Volume 23 , Issue 5 , September 2005 , pp. 615 - 624
Copyright
© 2005 Cambridge University Press