Kinematics and dynamics of two industrial robots in assembly

The dynamics and kinematic behavior of two coordinating robots in assembly is mathematically modeled. A typical assembly task can be decomposed into three phases: independent-motion phase, contact phase, and constraint-motion phase. Mathematical modeling is conducted in these phases as well. In the first phase, dynamic equations for robots holding an object are derived from individual dynamic equations of the robot and object. In the second phase, collision effects on the robot motions are studied and modeled. In the third phase, the emphasis is on the modeling of the kinematic constraints, from which a unified set of dynamic equations is obtained for the two coordinating robots