When two or more arms are holding a single object, one or more closed loops are formed by the arms. Such a configuration can be considered as a constrained multibody system. The dynamic analysis of constrained multibody systems can be obtained based on Kane's equations. The governing equations are formulated using orthogonal complement arrays. Numerical integration then leads to the simulation of the movement of the system. As an example, a two-arm robot system is considered using these procedures. The analysis is tested using PUMA 760 and PUMA 562 robots. Excellent agreement is obtained between the theoretical and experimental results.
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