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

H. G. Tanner; K. J. Kyriakopoulos; N. I. Krikelis

doi:10.1016/S0168-1699(00)00176-9

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

H. G. Tanner, K. J. Kyriakopoulos, N. I. Krikelis

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

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.

Original language	English (US)
Pages (from-to)	91-105
Number of pages	15
Journal	Computers and Electronics in Agriculture
Volume	31
Issue number	1
DOIs	https://doi.org/10.1016/S0168-1699(00)00176-9
State	Published - 2001

Keywords

Cooperation
Dynamic models
Manipulators
Mobile robots

ASJC Scopus subject areas

Forestry
Agronomy and Crop Science
Computer Science Applications
Horticulture

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10.1016/S0168-1699(00)00176-9

Cite this

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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.",

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

Abstract

Keywords

ASJC Scopus subject areas

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