New approach for dynamics modeling of dual-arm cooperating manipulators

High nonlinearity and coupling were shown from the dynamic characteristics of dual-arm cooperating manipulators because of the constrained relationship brought by desired task. Therefore, it was difficult to establish dynamical equation with traditional Lagrange equation. Aimed at the dynamics modeling of dual-arm cooperating planar manipulators, a generalized dynamical equation of multi-link planar manipulators was established and proved with traditional Lagrange equation. Then the additional torque and dynamical equation of dual-arm cooperating planar manipulators subject to some desired trajectory were acquired based on the famous Udwadia-Kalaba equation in analytical mechanics field and the above-mentioned generalized dynamical equation of multi-link planar manipulators. The new approach overcomes the disadvantage of obtaining dynamical equation from traditional Lagrange equation by Lagrange multiplier. The stimulation results of the varying law of the joint angles and the motion path of the bar prove that the dynamical equation established by this method conforms to the matter of fact.