A contribution to dynamic modeling of cooperative manipulation

Abstract The system of n cooperating robots, handling an object in such a way that there is no relative motion among grippers of manipulators and the object, is considered. Kinematic constraint relations in differential form among internal velocities and accelerations of manipulatorsinvolved in cooperation are determined. The system motion is represented in the joint space of one arbitrarily chosen manipulator involved in cooperation. The dynamic model of the system, representing the relation among joint accelerations and driving torques of manipulators, is obtained.