Advanced agricultural robots: kinematics and dynamics of multiple mobile manipulators handling non-rigid material

The equations of motion for a system of multiple mobile manipulators that handle a deformable object during an agricultural task are developed. The model is based on Kaneʹs approach. The imposed kinematic constraints are included and incorporated into the dynamics. Sufficient conditions for avoiding tipping over of the mechanisms are also provided. The deformable nature of the object can easily accommodate a variety of agricultural products and the analysis allows for the inclusion of specific handling limitations in order for the objects not to be damaged during manipulation.