Dynamic modeling of dual-arm cooperating manipulators based on Udwadia–Kalaba equation
Dual-arm cooperating manipulators subject to a certain constraint brought about by the desired trajectory and geometric constraint show high nonlinearity and coupling in their dynamic characteristic. Therefore, it is hard to build dynamical equation with traditional Lagrange equation. The Udwadia–Ka...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-07-01
|
| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814016658849 |