Hostname: page-component-cd9895bd7-gbm5v Total loading time: 0 Render date: 2024-12-29T14:37:22.878Z Has data issue: false hasContentIssue false
  • English
  • Français

Trajectory optimization of flexible mobile manipulators

Published online by Cambridge University Press:  31 October 2005

H. Ghariblu  and
M. H. Korayem
H. Ghariblu
Affiliation:
Inteligent Systems Laboratory, Faculty of Mechanical Engineering, Zanjan University, Zanjan (Iran). E-mail: [email protected]
M. H. Korayem
Affiliation:
Mechanical Engineering Department, Iran University of Science and Technology, Tehran (Iran).
Get access Rights & Permissions [Opens in a new window]

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.

Keywords

Trajectory optimizationMobile manipulatorsLinearized trajectory
Type
Article
Information
Robotica , Volume 24 , Issue 3 , May 2006 , pp. 333 - 335
Copyright
2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)