A procedure for determining the cooperative system nominal motion whereby the system’s desired motion belongs to a set of nominal motions, is proposed. The procedure originates from the solution of the elastic structure cooperative motion taking into account all specific properties of the cooperative manipulation. The starting basis of the procedure is determined by some essential properties of the mathematical model of the dynamics of the cooperative manipulation of the object by the nonredundant manipulators with 6 degrees of freedom (DOFs), whereby the problem of the force indefiniteness is solved by introducing elastic properties for a part of the cooperative system.

Issue Section:
Technical Papers
Keywords:
cooperative systems, motion control, manipulator dynamics, mobile robots
Topics:
Manipulators, Trajectories (Physics), Stress, Dynamics (Mechanics), Differential equations, Robots, Kinematics, System dynamics
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