Dynamic workspace analysis of multiple cooperating robot arms

The authors focus on the investigation of maximum applicable force/torque by multiple robot arms in coordinated motion, i.e., the dynamic workspace analysis of multiple cooperating robot arms. Simple procedures to solve the dynamic workspace analysis problem for multiple cooperating robot arms with or without the internal force/torque constraint are presented. These procedures model the cooperating robot arms as a closed mechanical chain and are based on the theory of linear transformations and the properties of mechanics. For low degree-of-freedom robot arms, the maximum force/torque problem can be solved by geometrically using the proposed procedures, as illustrated by examples