Abstract
Force and torque induced by motions of a mobile manipulator effect dynamically to the objects being carried on it. If the induced force is bigger than the static friction force, the carrying objects start slipping motion in the mobile manipulator. As the result, the movement of one carrying object may cause a collapse of all carrying objects, since a start of slipping makes the acceleration of mobile robot increase, furthermore it interferes with accurate traveling operations and moreover it is dangerous. In this paper, we propose a model of n-link mobile manipulator including the slipping motion of plural carrying objects.
