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摘要
The complex nonlinear coupling in the spatial cooperation process of mobile manipulators, makes it extremely tedious to directly model the spatial cooperative systems with the Lagrange equation or the Newton-Euler method. A dynamic modeling method, combining the Udwadia-Kalaba (U-K) method with the Lagrange equation, was proposed for spatial cooperation of dual-arm mobile manipulators. The load was simplified as a connecting link during modeling. The load center was selected to be disconnected for decomposition, so that the lack of constraint information was avoided between the end joint angle and the end link angle caused by the disconnection of the manipulator end joint; the segmented 2 subsystems were modeled with the Lagrange equation, thus, the dynamic model for the subsystems was obtained. The inherent geometric relationships of the cooperative system were introduced in the form of constraints, and the U-K method was applied to obtain the dynamic model for the cooperative system. The computation for modeling was reduced. The numerical simulation verifies the accuracy of the model. ? 2022 Editorial Office of Applied Mathematics and Mechanics.
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