Kinematics and Dynamics of Co-Operating Manipulators on a Mobile Platform

This paper describes the kinematics and dynamics of multiple robotic arms mounted on a mobile platform and cooperatively handling a common object. The presence of closed kinematic chains along with a mobile platform of comparable mass and inertia with the rest of the system makes the whole system dynamic analyisis extremely complex. An attempt has been mnade to derive a complete unified dynamic model and the simulation algorithms for a general type of cooperative robotic system, with maximum emphasis on space robotic systemns. All the derivations has been made in relation to space free-flying and free-floating robot manipulators