kinematics and dynamics of two cooperating robots in spatial moving of an object

the kinematics and dynamics of two industrial cooperating robots are presented in this paper. the noc (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. the joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. to this end, minimizing the crushing force and moment on the moving object as well as minimizing the joint torques of the two robots are the two methods which are used to determine the joint torques. as an example, the joint angles and their time derivatives as well as the time history of joint torques of two cooperating puma 560 robots are determined.