【摘要】 以双机械手协调作业为例．介绍了多机械手系统建模的一般方法．对于不同数目的机械手以及不同的作业任务，通过定义广义变量，建立关于广义变量的运动学和动力学方程，进而获得多机械手系统的统一模型．它为多机械手系统的控制和仿真提供了基础．更多还原

【Abstract】 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.更多还原