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Load carrying capacity of flexible joint manipulators with feedback linearization

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Abstract

A computational technique for obtaining the maximum load carrying capacity of robotic manipulators with joint elasticity, subject to accuracy and actuators constraints, is described herein. A feedback linearization technique is used to minimize end-effector deflection. An inversion algorithm is employed for the synthesis of a dynamic feedback control law that provides input-output decoupling and full state linearization. The linearizing input transformations and the corresponding state diffeomorphisms are presented. The proposed technique is then applied to a flexible joint robot. Linearizing control law is been expressed in terms of different sets of model variables and their derivatives. As a result, different tracking errors and torques are introduced in the robot-given trajectory and different load carrying capacities are obtained.

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Authors and Affiliations

  1. Robotic Research Laboratory, College of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran

    M.H. Korayem

  2. College of Mechanical Engineering, Sciences and Researches Branch, Azad University, Tehran, Iran

    F. Davarpanah

  3. Mechanical Engineering Department, Zanjan University, Zanjan, Iran

    H. Ghariblu

Authors
  1. M.H. Korayem
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  2. F. Davarpanah
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  3. H. Ghariblu
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Correspondence to H. Ghariblu.

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Korayem, M., Davarpanah, F. & Ghariblu, H. Load carrying capacity of flexible joint manipulators with feedback linearization. Int J Adv Manuf Technol 29, 389–397 (2006). https://doi.org/10.1007/s00170-005-2525-0

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  • DOI: https://doi.org/10.1007/s00170-005-2525-0

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