MAXIMUM ALLOWABLE LOAD ON WHEELED MOBILE MANIPULATORS

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HABIBNEZHAD KOURAYEM M.; GHARIBLOU H.

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Journal Paper

Paper Information

Journal: International Journal of Engineering Year:2003 | Volume:16 | Issue:3 (TRANSACTIONS A: BASICS) Page(s): 279-292

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Information Journal Paper

Title

MAXIMUM ALLOWABLE LOAD ON WHEELED MOBILE MANIPULATORS

Author(s)

HABIBNEZHAD KOURAYEM M. | GHARIBLOU H. | Issue Writer Certificate

Keywords

GIVEN TRAJECTORY

LOAD CARRYING

CAPACITY

BASE REPLACEMENT

MANIPULATOR

Abstract

This paper develops a computational technique for finding the maximum allowable ‎load of mobile MANIPULATORs for a GIVEN TRAJECTORY. The maximum allowable loads ‎which can be achieved by a mobile MANIPULATOR during a GIVEN TRAJECTORY are limited ‎by the number of factors; probably the dynamic properties of mobile base and ‎mounted MANIPULATOR, their actuator limitations and additional constraints applied to ‎resolving the redundancy are the most important factors. To resolve extra D.O.F ‎introduced by the base mobility, additional constraint functions are proposed directly ‎in the task space of mobile MANIPULATOR. Finally, in two numerical examples involving ‎a two-link planar MANIPULATOR mounted on a differentially driven mobile base, ‎application of the method to determining maximum allowable load is verified. The ‎simulation results demonstrates the maximum allowable load on a desired trajectory ‎has not a unique value and directly depends on the additional constraint functions ‎which applies to resolve the motion redundancy‏.‏

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APA: Copy

HABIBNEZHAD KOURAYEM, M., & GHARIBLOU, H.. (2003). MAXIMUM ALLOWABLE LOAD ON WHEELED MOBILE MANIPULATORS. INTERNATIONAL JOURNAL OF ENGINEERING, 16(3 (TRANSACTIONS A: BASICS)), 279-292. SID. https://sid.ir/paper/355283/en

Vancouver: Copy

HABIBNEZHAD KOURAYEM M., GHARIBLOU H.. MAXIMUM ALLOWABLE LOAD ON WHEELED MOBILE MANIPULATORS. INTERNATIONAL JOURNAL OF ENGINEERING[Internet]. 2003;16(3 (TRANSACTIONS A: BASICS)):279-292. Available from: https://sid.ir/paper/355283/en

IEEE: Copy

M. HABIBNEZHAD KOURAYEM, and H. GHARIBLOU, “MAXIMUM ALLOWABLE LOAD ON WHEELED MOBILE MANIPULATORS,” INTERNATIONAL JOURNAL OF ENGINEERING, vol. 16, no. 3 (TRANSACTIONS A: BASICS), pp. 279–292, 2003, [Online]. Available: https://sid.ir/paper/355283/en

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