Cooperative Towing with Multiple Robots
نویسندگان
چکیده
In this paper, we address the cooperative towing of payloads by multiple mobile robots in the plane. Robots are attached to a planar object or a pallet carrying a payload by cables. Coordinated motion by the robots allow the payload to be manipulated through a planar, warehouse-like environment. We formulate a quasi-static 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 experimental and simulation results that demonstrate the basic concepts.
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