Abstract
In this Chapter, the procedure of modeling and the complete general form mathematical model of manipulators with six degrees of freedom (DOF) in cooperative work are presented, together with the solution of the indefiniteness problem with respect to force distribution. The obtained model is presented in several convenient forms. For the first time, a system of active spatial six-DOF mechanisms elastically interconnected with the object (dynamic environment) is modeled. The reason for the emergence of the indefiniteness problem with respect to force is explained and the procedure for solving this problem is given. Unlike the approaches given in the available literature, the indefiniteness problem with respect to force is solved in accordance with physical phenomena.
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Vukobratovic, M., Potkonjak, V., Matijevic, V. (2003). Dynamics of Multi-ARM Cooperative Robots with Elastic Contacts. In: Dynamics of Robots with Contact Tasks. International Series on Microprocessor-Based and Intelligent Systems Engineering, vol 26. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0397-0_6
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DOI: https://doi.org/10.1007/978-94-017-0397-0_6
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