Dynamic modeling of cooperative manipulators with frictional contact at the end effectors

DOI10.1016/j.apm.2020.08.078zbMath1481.70012OpenAlexW3088305262MaRDI QIDQ2241750

Afsaneh Hedayat, Moharam Habibnejad Korayem, Siavash Fathollahi Dehkordi

Publication date: 9 November 2021

Published in: Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.apm.2020.08.078

zbMATH Keywords

frictional contacttime-dependent constraintscooperative robotic chainstime-dependent kinematic chain

Mathematics Subject Classification ID

Friction in solid mechanics (74M10) Kinematics of mechanisms and robots (70B15)

Cites Work

• Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics
• Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints
• Modelling and control of two robotic manipulators handling a constrained object
• Energetically consistent model of slipping and sticking frictional impacts in multibody systems
• Motion equations of cooperative multi flexible mobile manipulator via recursive Gibbs-Appell formulation

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