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Optimal load of elastic joint mobile manipulators imposing an overturning stability constraint

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Abstract

Full load motion of mobile manipulators while carrying a load with pre-defined motion precision is an important consideration in their application. Therefore, in this paper a general formulation for finding the maximum load-carrying capacity of compliant joint mobile manipulators is presented. The overturning stability of the system and the precision of the motion on the given end effector trajectory are taken into account. The main constraints used for the algorithm presented are the actuator torque capacity, the limited error bound for the end effector and the overturning stability during motion on the given trajectory. This paper presents a strategy for determining the dynamic load-carrying capacity (DLCC), subject to overturning stability, accuracy and actuator constraints, in which a series of ball-type bounds centred at the desired trajectory is used in the end effector oscillation constraint, while a typical d.c. motor speed-torque characteristics curve is used in the actuator constraint. The technique, which considers the full nonlinear mobile manipulator dynamics, actuator constraint, overturning stability constraint, and accuracy constraint, permits the user to specify the trajectory completely. In order to verify the effectiveness of the algorithm presented, a simulation study considering a compliant joint two-link planar manipulator mounted on a differentially driven mobile base is given with details.

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Authors and Affiliations

  1. Mechanical Engineering Department, Iran University of Science and Technology, Tehran, Iran

    M.H. Korayem & H. Ghariblu

  2. Department of Mechanical Engineering, University of Wollongong, Wollongong, NSW, Australia

    A. Basu

Authors
  1. M.H. Korayem
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  2. H. Ghariblu
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  3. A. Basu
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Correspondence to M.H. Korayem.

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Korayem, M., Ghariblu, H. & Basu, A. Optimal load of elastic joint mobile manipulators imposing an overturning stability constraint. Int J Adv Manuf Technol 26, 638–644 (2005). https://doi.org/10.1007/s00170-003-2021-3

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  • DOI: https://doi.org/10.1007/s00170-003-2021-3

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