Cooperation manipulation of multiple arm robotic systems in tracking a mechanical system

The dynamics and control issues of an assembly set or a complex mechanical system are studied in this paper. The assembly set is considered as a mechanical system consisting of rigid bodies with rotational or prismatic interconnections in a tree structure. And the dynamical process in performing an assembly task is formulated as a tracking problem in which the desired motion of the mechanical system is described by the motion of one of the bodies chosen as the main one and the motions of others relative one to another in series. Unified representations of the static forces, kinematic quantities and dynamic equations are given with respect to local moving coordinates A control law is established after a manipulability property which concerns the number and the allocation of robots indispensable to the task is studied. Simulation results of a planar system are also given.<>