Kinematics and Dynamics of Co-operating Manipulations on a Mobile Base

Abstract

This paper describes the kinetics and dynamics of multiple robotic arms mounted on a mobile base and co-operatively handling a common object. The presence of closed kinematic chains along with a mobile base of comparable mass and inertia with rest of the system makes the whole system dynamic analysis extremely complex. An attempt has been made to derive a complete unified dynamic model and the simulation algorithms for a general type of co-operative robotic system, with maximum emphasis on space robotic systems. All the derivations have been made in relation to space free-flying and free-floating robot manipulations.