Abstract: The dynanmic model of cooperative manipulators with flexible links is developed in absolute coordinates. The forward dynamic equation of the cooperative system is derived. Assuming the actual, but not the morninal rigid position of load’s mass center as the boundary condition, the inverse dynamic model of the cooperative manipulators is proposed by the force distribution method. With the solution of inverse dynamic equation, the manipulators can operate the object to track a desired trajectory accurately. The optimum load distribution and load capacity are obtained by programming the distribution factors. The effectiveness of the proposed method is demonstrated through numerical simulations.

Key words: Cooperation, Dynamic model, Flexible manipulator, Inverse dynamics, Load capacity, Trajectory tracking