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Modeling of multiple mobile manipulators handling a common deformable object

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Modeling of multiple mobile manipulators handling a common deformable object (EN)
Kyriakopoulos, KJ (EN)
Krikelis, NJ (EN)
Tanner, HG (EN)
journalArticle (EN)
2014-03-01T01:13:54Z
1998 (EN)
The dynamic equations of motion for a system of multiple mobile manipulators carrying a common deformable object are developed. The derived centralized model is based on Kane's approach to dynamics. The imposed kinematic nonholonomic constraints are included and incorporated into the dynamics. It is pointed out, however, that these kinematic constraints are only necessary, and they only become sufficient to impose nonholonomic motion when accompanied by the dynamic counterparts. Sufficient conditions for avoiding tipping over by the mechanisms are also provided. The whole set of constraint equations is analyzed and useful properties for the set of admissible solutions for the ground reaction forces are obtained. The deformable object under manipulation is modeled and the simplest approximating grid structure is indicated. (C) 1998 John Wiley & Sons, Inc. (EN)
Robotics (EN)
Computer simulation (EN)
Mobile Manipulator (EN)
Manipulators (EN)
Equations of motion (EN)
Mobile robots (EN)
Deformable Objects (EN)
Ground Reaction Force (EN)
Kinematics (EN)
Kane approach (EN)
Constraint theory (EN)
Approximation theory (EN)
Dynamic Equation (EN)
Common deformable object (EN)
Multiple mobile manipulators (EN)
Journal of Robotic Systems (EN)
English
JOHN WILEY & SONS INC (EN)
National Technical University of Athens
Digital Library of National Technical University of Athens | Dspace@NTUA
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