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TECHNICAL PAPERS

Dynamic Analysis of Planar Cooperative Manipulators With Link Flexibility*

[+] Author and Article Information
Cheng-Xin Zhang, Yue-Qing Yu

College of Mechanical Engineering & Applied Electronics, Beijing Polytechnic University, Beijing 100022, P. R. of China

J. Mech. Des 126(3), 442-448 (Sep 01, 2003) (7 pages) doi:10.1115/1.1701875 History: Received July 01, 2001; Revised September 01, 2003
Copyright © 2004 by ASME
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References

Walker,  I. D., Freeman,  R. A., and Marcus,  S. I., 1991, “Analysis of Motion and Internal Loading of Objects Grasped by Multiple Cooperating Manipulators,” Int. J. Robot. Res., 10(4), pp. 369–409.
Liu,  Y. H., and Arimoto,  S., 1998, “Decentralized Adaptive and Nonadaptive Position/Force Controllers for Redundant Manipulators in Cooperation,” Int. J. Robot. Res., 17(3), pp. 232–247.
Wang,  L. T., and Luo,  M. J., 1994, “Dynamic Load-carrying Capacity and Inverse Dynamics of Multiple Cooperating Robotic Manipulators,” IEEE Trans. Rob. Autom., 10(1), pp. 71–77.
Jankowski,  K., , 1993, “Dynamic Coordination of Multiple Robot Arms with Flexible Joints,” Int. J. Robot. Res., 12(6), pp. 505–528.
Sun,  Q., Sharf,  I., and Nahon,  M., 1999, “Stability Analysis of the Force Distribution Algorithm for Flexible-Link Cooperating Manipulators,” Mech. Mach. Theory, 34, pp. 753–763.
Matsuno,  F., and Hatayama,  M., 1999, “Robust Cooperative Control of Two Two-Link Flexible Manipulators on the Basis of Quasi-Static Equations,” Int. J. Robot. Res., 18(4), pp. 414–428.
Dou,  J. W., and Yu,  Y. Q., 2000, “On the Dynamic Modeling of Two Flexible Manipulator Cooperation and Its Inverse Dynamic Analysis,” Robot, 22(1), pp. 9–47 (in Chinese).
Damaren,  C. J., 2000, “On the Dynamics and Control of Flexible Multi-Body Systems with Closed Loops,” Int. J. Robot. Res., 19(3), pp. 238–253.
Yang,  Z., and Sadler,  J. P., 1999, “A One-pass Approach to Dynamics of High-speed Machinery Through Three-node Lagrangian Beam Elements,” Mech. Mach. Theory, 34, pp. 995–1007.
Yang,  Z., and Sadler,  J. P., 1990, “Large-displacement Finite Element Analysis of Flexible Linkages,” ASME J. Mech. Des., 112, pp. 175–182.
Simo,  J. C., and Vu-Quoc,  L., 1986, “On the Dynamics of Flexible Beams Under Large Overall Motions—The Plane Case: Part 1,” ASME J. Appl. Mech., 53, pp. 849–854.
Simo,  J. C., and Vu-Quoc,  L., 1986, “On the Dynamics of Flexible Beams Under Large Overall Motions—The Plane Case: Part 2,” ASME J. Appl. Mech., 53, pp. 855–863.
Bathe, K. J., 1982, Finite Element Procedures in Engineering Analysis, Prentice-Hall, Inc., Englewood Cliffs, New Jersey.

Figures

Grahic Jump Location
Element model of a 3R robot
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Input joint angles of Robot 1
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Input joint angles of Robot 2
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Compensation angles of Robot 1
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Compensation angles of Robot 2
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Input joint torques of Robot 1
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Input joint torques of Robot 2
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Input joint torques of Robot 1 of FD method
Grahic Jump Location
Input joint torques of Robot 2 of FD method
Grahic Jump Location
Tracking errors of FD method
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Internal forces of FD method
Grahic Jump Location
Input joint torques of Robot 1
Grahic Jump Location
Input joint torques of Robot 2
Grahic Jump Location
Input joint torques of Robot 1 of FD method
Grahic Jump Location
Input joint torques of Robot 2 of FD method
Grahic Jump Location
Tracking errors of FD method
Grahic Jump Location
Internal forces of FD method

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