The dynamic models of the cooperation of multiple robot arms with both joint and link flexibility are developed in absolute coordinates. Based on the dynamic model, the forward dynamic models have been developed according to the constraints among the cooperating manipulators. Assuming the actual mass center of the cooperated object, instead of the nominal rigid position determined by the kinematics of the rigid link counterpart, to be the boundary constraint and to satisfy the anticipated trajectory, the inverse dynamic equations are obtained. The perfect input for the specified task can be calculated from the proposed inverse dynamic model, while the proposed forward dynamic model can be used for numerical simulation. The proposed dynamic models lay the foundation for the design and control of this kind of system. The effectiveness of the method is demonstrated through simulation of two flexible-link and flexible-joint 3R robot arms cooperating a rigid object.

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