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1 results

  • Effect of payloads contact upon the coupled dynamic response of two cooperating robots

  • G. Shagal, S.A. Meguid
  • Journal:
    Robotica / Volume 14 / Issue 6 / November 1996
    Published online by Cambridge University Press:
    09 March 2009, pp. 659-665

  • The coupled dynamic response of two cooperating robots handling two flexible payloads is treated using a new algorithm. In this algorithm, the dynamic equations describing the system are obtained using Lagrange's method for the rigid robot links and the finite element method for the flexible payloads. The contact between the flexible payloads is modelled using the penalty function method and a contact search algorithm is employed to identify the contact region.