Abstract: Compared with the cooperation of rigid robot system, the cooperation of flexible manipulators is a complicated dynamic system with non-linear characteristics such as the reinstituted kinematic coordinated constraints, mathematically definitive relationship among the grasping forces and the coupling effects between kinematic and dynamic analyses. The dynamic model of flexible cooperative manipulators is established by using finite element method and lagrange equation at first. The predictive and compensative control algorithm is then presented to complete the system inverse dynamic task, based on the compensation of nominal rigid configuration of flexible manipulators. Finally, a numerical example of two planar 3R flexible robots manipulating a rigid load is illustrated successfully.

Key words: Control, Cooperation, Dynamics, Flexible manipulator