Dynamic modeling for two coordinating flexible robots grasping an object

The authors discuss the dynamic modeling of two coordinating robots having flexible links. The formulation of the dynamics is conducted analytically using Hamilton´s extended principle. The resultant equations consist of inertial, cariolis, centrifugal, gravitational, and exerted force terms. They are expressed by independent generalized coordinates. The complete model of two coordinating flexible robots grasping an object in terms of a coupled system of ordinary and partial differential equations is established. A finite dimensional model is also developed from this model which decouples the rigid joint motion from the flexible motion