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Information Journal Paper

Title

OPTIMAL LOAD OF FIEXIBLE JOINT MOBILE ROBOTS STABILITY APPROACH

Pages

  193-204

Abstract

 OPTIMAL LOAD of mobile robots, carrying a load with predefined motion precision, is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, OVERTURNING STABILITY of the system and precision of the motion on the given cnd-effector trajectory are taken into account. The main constraints applied for the presented algorithm are torque capacity of actuators, limited error bound for the end-effector and OVERTURNING STABILITY during the motion on the given trajectory. In order to verfy the effectiveness of the presented algorithm a simulation study considering a compliant joint two-link planar manipulator mounted on a differentially driven mobile base is explained in details.

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    • Cite

    APA: Copy

    KORAYEM, M.H., GHARIBLOU, H., & BASU, A.. (2004). OPTIMAL LOAD OF FIEXIBLE JOINT MOBILE ROBOTS STABILITY APPROACH. INTERNATIONAL JOURNAL OF ENGINEERING, 17(2 (TRANSACTIONS A: BASICS)), 193-204. SID. https://sid.ir/paper/355324/en

    Vancouver: Copy

    KORAYEM M.H., GHARIBLOU H., BASU A.. OPTIMAL LOAD OF FIEXIBLE JOINT MOBILE ROBOTS STABILITY APPROACH. INTERNATIONAL JOURNAL OF ENGINEERING[Internet]. 2004;17(2 (TRANSACTIONS A: BASICS)):193-204. Available from: https://sid.ir/paper/355324/en

    IEEE: Copy

    M.H. KORAYEM, H. GHARIBLOU, and A. BASU, “OPTIMAL LOAD OF FIEXIBLE JOINT MOBILE ROBOTS STABILITY APPROACH,” INTERNATIONAL JOURNAL OF ENGINEERING, vol. 17, no. 2 (TRANSACTIONS A: BASICS), pp. 193–204, 2004, [Online]. Available: https://sid.ir/paper/355324/en

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