Dynamic Modeling of Spatial Cooperation of Dual Mobile Manipulators System Through Evenly Partition

The complex non-linear coupling generated in spatial cooperation process of mobile manipulators, makes it extremely tedious to model directly with Lagrange equation or Newton-Euler method. A practical dynamic modeling method, combining Udwadia-Kalaba method with Lagrange equation is proposed, to effectively simplify the modeling for spatial cooperation of dual mobile manipulators system. The load is simplified as a connecting link while modeling. The center of load was selected to be disconnected, and system is creatively decomposed into two symmetric subsystems. Only one of the subsystems needs to be modeled by Lagrange equation, and the dynamic model of the unconstrained subsystems can be easily obtained. The inherent geometric relationships of the cooperative subsystems are introduced in the form of constraints. By applying the Udwadia-Kalaba method, the constraints are novelty transformed into second order differential form, and the corresponding constraint force is easily generated through the Udwadia-Kalaba equation. Thus, the overall dynamic model of the spatial cooperation of dual mobile manipulators system is obtained. Finally, the accuracy of the model is verified by numerical simulation.