Abstract
This paper deals with a singular-point analysis of the locus for the two mobile robots traveling along a sinusoidal wavy road with carrying a long bar. The robots are assumed to be driven by crawler mechanism and to have a singlelink prismatic arm. The bar is also assumed to be kept horizental and at a given height and span. Modeling the two mobile robots by three-link mechanism, the locus of the two mobile robots are obtained in terms of their location-coordinates, which yields three kinds of singular points. At these singular points, the movement direction in each robot is analyzed, and obtained the movement direction rules at singular points, which should be a supplemental rules to those obtained in the previous report. Finally this paper has found the existence of the infinite loop, in which the two robots would move back and forth endlessly, and its existence condition is shown in terms of the height and span of the bar to be carried.
