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2025 , Vol. 30 >Issue 6: 1134 - 1143

DOI: https://doi.org/10.1007/s12204-023-2649-0

Automation & Computer Technologies

Dynamic Analysis and Trajectory Solution of Multi-Robot Coordinated Towing System

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  • School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China

Received date: 2023-02-10

  Accepted date: 2023-04-06

  Online published: 2023-09-04

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Abstract

Multi-robot coordinated towing system is an under-constrained system. The dynamic response of the towing system can not be fully controlled since the rope can only provide a unidirectional constraint force to the suspended object. Based on the kinematics of the multi-robot coordinated towing system with fixed-base, the Newton-Euler equations and Udwadia-Kalaba equations were used to establish the dynamics of the towing system. To obtain the motion trajectories with high stability and strong control, the motion trajectories of the towing system were optimized. During the towing, the transition from the relaxation state to the tension state of the rope was treated as a collision between the suspended object and the robot end. The trajectories of the towing system in terms of a single-variable and multiple-variable were solved, respectively. The simulation shows that the optimized trajectories are closer to reality and truly reflect the constraints of the ropes on the suspended object. The research results provide a basis for trajectory planning and control of the towing system.

Cite this article

ZHAO Xiangtang, ZHAO Zhigang, WEI Qizhe, SU Cheng . Dynamic Analysis and Trajectory Solution of Multi-Robot Coordinated Towing System[J]. Journal of Shanghai Jiaotong University(Science), 2025 , 30(6) : 1134 -1143 . DOI: 10.1007/s12204-023-2649-0

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