On the Modelling of Tethered Mobile Robots as Redundant Manipulators

Controlling a chain of tethered mobile robots (TMRs) can be challenging task. This kind system considered kinematically as an open-chain robotic arm where the are revolute joint and tether is variable length link, using prismatic joint. Thus, TMRs problem decoupled into two parallel problems: equivalent manipulator control shape computation. Kinematic redundancy exploited in order to coordinate motion all forming chain, expressing constraints acting on secondary tasks for arm. Implementation Gazebo simulation environment shows that methodology capable controlling cluttered environments.