Modeling of multiple mobile manipulators handling a common deformable object

Herbert G. Tanner, Kostas J. Kyriakopoulos, N. J. Krikelis

Research output: Contribution to journalArticlepeer-review


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.

Original languageEnglish (US)
Pages (from-to)599-623
Number of pages25
JournalJournal of Robotic Systems
Issue number11
StatePublished - Nov 1998

ASJC Scopus subject areas

  • Control and Systems Engineering


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