Dynamic analysis and experiment of multiarm robots

When two or more arms are holding a single object, one or more closed loops are formed by the arms. Such a configuration can be considered as a constrained multibody system. The dynamic analysis of constrained multibody systems can be obtained based on Kane´s equations. The governing equations are formulated using orthogonal complement arrays. Numerical integration then leads to the simulation of the movement of the system. As an example, a two-arm robot system is considered using these procedures. The analysis is tested using PUMA 760 and PUMA 562 robots. Excellent agreement is obtained between the theoretical and experimental results