@article { author = {Ghariblu, H. and Korayem, M. H. and Basu, A.}, title = {Optimal Load of Flexible Joint Mobile Robots Stability Approach}, journal = {International Journal of Engineering}, volume = {17}, number = {2}, pages = {193-204}, year = {2004}, publisher = {Materials and Energy Research Center}, issn = {1025-2495}, eissn = {1735-9244}, doi = {}, abstract = {Optimal load of mobile robots, while carrying a load with predefined motion precision is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given end-effector trajectory are taken into account. The main constraints applied for the presented algorithm are torque capacity of actuators, limited error bound for the end-effector and overturning stability during the motion on the given trajectory. In order to verify the effectiveness of the presented algorithm, a simulation study considering a compliant joint two-link planar manipulator mounted on a differentially driven mobile base is explained in details.}, keywords = {Optimal Load,Overturning Stability,Base Mobility,Joint Elasticity}, url = {https://www.ije.ir/article_71518.html}, eprint = {https://www.ije.ir/article_71518_47ea89de36cd2f9c77ea7e194f6470f8.pdf} }