A General Method for Modeling Multi-Manipulators
多机械手系统建模的一般方法

A general method for modeling multi-manipulators is presented. At the beginning,a cooperative task with dual arms is given as an example. Then, for the generalmethod suitable for different numbers of manipulators and different tasks, generalized variables are introduced. And both kinematics and dynamics methods are alsoestablished by using the generalized variables. The general model provides a goodtool for control and simulation of the multi-manipulator system.