| contributor author | Peng Cheng | |
| contributor author | Jong-Shi Pang | |
| contributor author | Jonathan Fink | |
| contributor author | Vijay Kumar | |
| date accessioned | 2017-05-09T00:34:37Z | |
| date available | 2017-05-09T00:34:37Z | |
| date copyright | February, 2009 | |
| date issued | 2009 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-27973#011008_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/141507 | |
| description abstract | In this paper, we address the cooperative towing of payloads by multiple mobile robots that move in the plane. Robots are attached via cables to an object or a pallet carrying a payload, and they coordinate their motion to manipulate the payload through a planar warehouselike environment. We formulate a quasistatic model for manipulation and derive equations of motion that yield the motion of the payload for a prescribed motion of the robots in the presence of dry friction and tension constraints. We present the experimental results that demonstrate the basic concepts. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Cooperative Towing With Multiple Robots | |
| type | Journal Paper | |
| journal volume | 1 | |
| journal issue | 1 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.2960539 | |
| journal fristpage | 11008 | |
| identifier eissn | 1942-4310 | |
| keywords | Robots AND Cables | |
| tree | Journal of Mechanisms and Robotics:;2009:;volume( 001 ):;issue: 001 | |
| contenttype | Fulltext | |
