Author:
Ghariblu H.,Korayem M. H.
Abstract
A computational algorithm is developed to find a dynamic motion trajectory of a mobile manipulator with flexible links and joints that will allow the robot to carry a maximum load between two specified end positions. A compact form of the linearized state space dynamic equations is organized as well as constraint equations. Then, the problem of finding a maximum load carrying capacity on flexible mobile manipulators is formulated as a trajectory optimization problem.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
43 articles.
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