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linearized trajectory

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Trajectory optimization of flexible mobile manipulators
H. Ghariblu, M. H. Korayem
Journal:

Robotica / Volume 24 / Issue 3 / May 2006

Published online by Cambridge University Press:

31 October 2005, pp. 333-335
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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.