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• W1515654414 abstract "The modelling and control of multiple robotic manipulators handling a constrained object requires more sophisticated techniques compared with a single robot working alone. Since the theory employed for cooperative robots is independent of their size, one can think of them as mechanical hands. The study of mechanical hands is important not only because these can be used as prosthetic devices for humans, but also because they increase considerably the manipulation capacity of a robot when substituting the usual gripper. Thus, robot hands (as well as cooperative robots), may find many areas of application nowadays. Many benefits can be obtained by using them in industrial manufacturing. A typical example is in a flexible assembly, where the robots join two parts into a product. Cooperative manipulators can also be used in material handling, e.g., transporting objects beyond the load carrying capacity of a single robot. Furthermore, their employment allows to improve the quality of tasks in the manufacturer industry that require of great precision. On the other hand, cooperative robots are indispensable for skillful grasping and dexterous manipulation of objects. However, the literature about experimental results on the modeling, simulation and control of systems of multiple manipulators holding a common object is rather sparse. A dynamic analysis for a system of multiple manipulators is presented in Orin and Oh (Orin & Oh 1981), where the formalism of Newton-Euler for open chain mechanisms is extended for closed chain systems. Another approach widely used is the EulerLagrange method (Naniwa et al. 1997). The equations of motion for each manipulator arm are developed in the Cartesian space and the impact of the closed chain is investigated when the held object is in contact with a rigid environment, for example the ground. Another general approach to obtain the dynamic model of a system of multiple robots is based on the estimation of the grasping matrix (Cole et al. 1992, Kuc et al. 1994, Liu et al. 2002, Murray et al. 1994, Yoshikawa & Zheng 1991). Here, the grasping matrix is used to couple the manipulators dynamics with that of the object, while this is" @default.
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• W1515654414 date "2006-12-01" @default.
• W1515654414 modified "2023-10-02" @default.
• W1515654414 title "Dynamic Model, Control and Simulation of Cooperative Robots: A Case Study" @default.
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• W1515654414 doi "https://doi.org/10.5772/4724" @default.
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