Abstract
This paper deals with a kinematics analysis of cooperation necessary for two mobile robots to carry a long bar along a sinusoidal wavy road. The robots are assumed to be driven by crawler mechanism and to have a single link arm which moves only prismatically. For the task to carry a long bar with keeping its height constant and its attitude horizontal, we analyse the kinematic conditions necessary for the two mobile robots to perform the given task and find that there exist two kinds of cooperation mode ; one is to change the direction of proceeding and the other is to change the robot role from “master” to “servant” and vis-vasa. The kinematic condition for these two cooperation mode are derived and confirmed by simulation study.
