Advanced agricultural robots: Kinematics and dynamics of multiple mobile manipulators handling non-rigid material

Tanner, HG; Kyriakopoulos, KJ; Krikelis, NI

dc.contributor.author	Tanner, HG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.contributor.author	Krikelis, NI	en
dc.date.accessioned	2014-03-01T01:16:06Z
dc.date.available	2014-03-01T01:16:06Z
dc.date.issued	2001	en
dc.identifier.issn	0168-1699	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/13919
dc.subject	Cooperation	en
dc.subject	Dynamic models	en
dc.subject	Manipulators	en
dc.subject	Mobile robots	en
dc.subject.classification	Agriculture, Multidisciplinary	en
dc.subject.classification	Computer Science, Interdisciplinary Applications	en
dc.subject.other	Agricultural engineering	en
dc.subject.other	Constraint theory	en
dc.subject.other	Kinematics	en
dc.subject.other	Mathematical models	en
dc.subject.other	Mobile robots	en
dc.subject.other	Kinematic constraints	en
dc.subject.other	Multiple mobile manipulators	en
dc.subject.other	Manipulators	en
dc.title	Advanced agricultural robots: Kinematics and dynamics of multiple mobile manipulators handling non-rigid material	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/S0168-1699(00)00176-9	en
heal.identifier.secondary	http://dx.doi.org/10.1016/S0168-1699(00)00176-9	en
heal.language	English	en
heal.publicationDate	2001	en
heal.abstract	The equations of motion for a system of multiple mobile manipulators that handle a deformable object during an agricultural task are developed. The model is based on Kane's approach. The imposed kinematic constraints are included and incorporated into the dynamics. Sufficient conditions for avoiding tipping over of the mechanisms are also provided. The deformable nature of the object can easily accommodate a variety of agricultural products and the analysis allows for the inclusion of specific handling limitations in order for the objects not to be damaged during manipulation. © 2001 Elsevier Science B.V.The equations of motion for a system of multiple mobile manipulators that handle a deformable object during an agricultural task are developed. The model is based on Kane's approach. The imposed kinematic constraints are included and incorporated into the dynamics. Sufficient conditions for avoiding tipping over of the mechanisms are also provided. The deformable nature of the object can easily accommodate a variety of agricultural products and the analysis allows for the inclusion of specific handling limitations in order for the objects not to be damaged during manipulation. © 2001 Elsevier Science B.V.	en
heal.publisher	Elsevier Science Publishers B.V., Amsterdam, Netherlands	en
heal.journalName	Computers and Electronics in Agriculture	en
dc.identifier.doi	10.1016/S0168-1699(00)00176-9	en
dc.identifier.isi	ISI:000167408800008	en
dc.identifier.volume	31	en
dc.identifier.issue	1	en
dc.identifier.spage	91	en
dc.identifier.epage	105	en