Cartesian space dynamic model of serial-parallel structure and its application to dual-arm self-reconfiguration

A Cartesian space forward and inverse dynamic model of the serial-parallel or bracing structure of a dual redundant arm system is formulated and applied to dual-arm system reconfiguration based on a dynamic performance measure. The model allows in-depth analysis of dynamic interactions between local arms, including the inertial coupling between the lower and the upper arms as well as the reduced inertial effect on the upper arm. The model allows the dynamic manipulability of the dual-arm bracing structure to be defined as the capability for generating Cartesian accelerations within joint torque limits, in terms of the dynamic manipulabilities of individual arms. This makes it possible to analyze the effect of dual-arm self-reconfiguration based on dextrous bracing due to relocation of the bracing point, as well as on locking and releasing some of the joints, on its dynamic manipulability. It is shown that the dual-arm dextrous bracing structure can provide a continuously but widely varying range of dynamic performance