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Volume 42 Issue 9
Sep.  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(9): 1903-1910.
LIU Jia, LIU Rong. New approach for dynamics modeling of dual-arm cooperating manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(9): 1903-1910. doi: 10.13700/j.bh.1001-5965.2015.0555(in Chinese)
Citation: LIU Jia, LIU Rong. New approach for dynamics modeling of dual-arm cooperating manipulators[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(9): 1903-1910. doi: 10.13700/j.bh.1001-5965.2015.0555(in Chinese)
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New approach for dynamics modeling of dual-arm cooperating manipulators

doi: 10.13700/j.bh.1001-5965.2015.0555

  • Robotics Institute, School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 31 Aug 2015
  • Publish Date: 20 Sep 2016
    Abstract
  • High nonlinearity and coupling were shown from the dynamic characteristics of dual-arm cooperating manipulators because of the constrained relationship brought by desired task. Therefore, it was difficult to establish dynamical equation with traditional Lagrange equation. Aimed at the dynamics modeling of dual-arm cooperating planar manipulators, a generalized dynamical equation of multi-link planar manipulators was established and proved with traditional Lagrange equation. Then the additional torque and dynamical equation of dual-arm cooperating planar manipulators subject to some desired trajectory were acquired based on the famous Udwadia-Kalaba equation in analytical mechanics field and the above-mentioned generalized dynamical equation of multi-link planar manipulators. The new approach overcomes the disadvantage of obtaining dynamical equation from traditional Lagrange equation by Lagrange multiplier. The stimulation results of the varying law of the joint angles and the motion path of the bar prove that the dynamical equation established by this method conforms to the matter of fact.

     

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    • References(16)
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