Modeling of multiple mobile manipulators handling a common deformable object

Tanner, HG; Kyriakopoulos, KJ; Krikelis, NJ

dc.contributor.author	Tanner, HG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.contributor.author	Krikelis, NJ	en
dc.date.accessioned	2014-03-01T01:13:54Z
dc.date.available	2014-03-01T01:13:54Z
dc.date.issued	1998	en
dc.identifier.issn	0741-2223	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12777
dc.subject	Deformable Objects	en
dc.subject	Dynamic Equation	en
dc.subject	Ground Reaction Force	en
dc.subject	Mobile Manipulator	en
dc.subject.classification	Robotics	en
dc.subject.other	Approximation theory	en
dc.subject.other	Computer simulation	en
dc.subject.other	Constraint theory	en
dc.subject.other	Equations of motion	en
dc.subject.other	Kinematics	en
dc.subject.other	Mobile robots	en
dc.subject.other	Common deformable object	en
dc.subject.other	Kane approach	en
dc.subject.other	Multiple mobile manipulators	en
dc.subject.other	Manipulators	en
dc.title	Modeling of multiple mobile manipulators handling a common deformable object	en
heal.type	journalArticle	en
heal.identifier.primary	10.1002/(SICI)1097-4563(199811)15:11<599::AID-ROB1>3.0.CO;2-O	en
heal.identifier.secondary	http://dx.doi.org/10.1002/(SICI)1097-4563(199811)15:11<599::AID-ROB1>3.0.CO;2-O	en
heal.language	English	en
heal.publicationDate	1998	en
heal.abstract	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
heal.publisher	JOHN WILEY & SONS INC	en
heal.journalName	Journal of Robotic Systems	en
dc.identifier.doi	10.1002/(SICI)1097-4563(199811)15:11<599::AID-ROB1>3.0.CO;2-O	en
dc.identifier.isi	ISI:000076575700001	en
dc.identifier.volume	15	en
dc.identifier.issue	11	en
dc.identifier.spage	599	en
dc.identifier.epage	623	en