GENERAL MODEL FOR FLEXIBLE MANIPULATORS COOPERATING A CLOSED-LOOP LINKAGE
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Abstract
On the basis of the dynamic equation of single flexible robot, the kinematic and dynamic coordinated constraints are established for the cooperation system, using the linearized differential relationship in a closed-loop linkage. The general dynamic equations of flexible-manipulators cooperating rigid closed-loop linkage are then developed, for the first time, based on the standard kinematic parameters of the payload task. A simulation of two planar 3R flexible robots manipulating a four-bar linkage is illustrated successfully.
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