Dynamics of Multi-agent Holonomic Mobile Robots System Transporting a Rigid Object

This paper presents the cooperative transport of objects utilizing multi-robot systems. A novel approach to address the intricate issue of object manipulation has been introduced. In this approach, wheeled holonomic robots are employed, and in order to make them move around the object, prismatic and revolute joints are employed. This can model the impact of the forces of other robots. Moreover, connecting the points of the robots to the objects is of great importance. Therefore, several heuristic optimization algorithms have been applied over the Jacobian matrix to obtain the optimal points. Finally, the effectiveness of the proposed solution is evaluated via some simulation results.