2
Mechanical Engineering, Iran University of Science & Technology
3
Mechanical Engineering, University of Wollongong
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.
Ghariblu, H., Korayem, M. H., & Basu, A. (2004). Optimal Load of Flexible Joint Mobile Robots Stability Approach. International Journal of Engineering, 17(2), 193-204.
MLA
H. Ghariblu; M. H. Korayem; A. Basu. "Optimal Load of Flexible Joint Mobile Robots Stability Approach". International Journal of Engineering, 17, 2, 2004, 193-204.
HARVARD
Ghariblu, H., Korayem, M. H., Basu, A. (2004). 'Optimal Load of Flexible Joint Mobile Robots Stability Approach', International Journal of Engineering, 17(2), pp. 193-204.
VANCOUVER
Ghariblu, H., Korayem, M. H., Basu, A. Optimal Load of Flexible Joint Mobile Robots Stability Approach. International Journal of Engineering, 2004; 17(2): 193-204.
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