The novel approaches for computing the dynamic load-carrying capacity of multiple cooperating robotic manipulators

A novel unified method for computing the dynamic load-carrying capacity (DLCC) of multiple cooperating robotic manipulators is developed in this paper. 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 generalized D'Alembert's principle (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.

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