Analysis of the dynamic characteristics of the arm robot

Recent advances in both anthropomorphic robots and bimanual industrial manipulators led to an increased interest in the specific problems of dual-arm manipulation. In the future, we foresee robots performing human-like tasks in domestic and industrial settings. It is, therefore, natural to study specifics of dual-arm manipulation in humans and methods for using the resulting knowledge in robot control. The related scientific problems range from low-level control to high-level task planning and execution. A dual-arm robot, with bi-manual manipulation, can operate in an agile human-like manner. However, because of nonlinear, imprecise modeling and interactive properties, the control of dual-arm robots becomes sophisticated with some limitations. In this study, an analysis of the dynamics model of a dual-arm robot with suitable characteristics in the control design is performed.