Optimal Load of Flexible Joint Mobile Robots Stability Approach
Publish Year: 1383
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_IJE-17-2_009
تاریخ نمایه سازی: 19 اسفند 1400
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.
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Authors
H. Ghariblu
, Iran University of Science & Technology
M. H. Korayem
Mechanical Engineering, Iran University of Science & Technology
A. Basu
Mechanical Engineering, University of Wollongong