THE ROLE OF BASE MOBILITY ON MAXIMIZING LOAD OF MECHANICAL MANIPULATORS

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HABIBNEZHAD KOURAYEM M.; GHARIBLOU H.

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Journal Paper

Paper Information

Journal: INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE (ENGLISH) Year:2004 | Volume:15 | Issue:4 Page(s): 52-64

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Title

THE ROLE OF BASE MOBILITY ON MAXIMIZING LOAD OF MECHANICAL MANIPULATORS

Author(s)

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

Keywords

MOBILE BASE

MECHANICAL MANIPULATOR

MAXIMUM LOAD

CONSTRAINTS

Abstract

The main advantage of MOBILE BASE robotic manipulators is their extended working space. In this paper, a new application is introduced to improve MOBILE BASE manipulators dynamic load carrying capacity. The concept of load-works pace is defined as union of places where robot base can be located on them and carries a load on a desired trajectory. By discretizing the load-workspace into some grid points, the base position is considered to be fixed on each grid point. Then, the dynamic effects of load and manipulator are computed separately on joint actuators during the motion on given trajectory. In the next stage, load carrying capacity of manipulator is computed at each base location by considering manipulator joint limit and actuator torque CONSTRAINTS. By applying a sequential procedure, at each step, a smaller subspace of load-workspace is selected such that a global optimum base location for MAXIMUM LOAD carrying capacity of manipulator on predefined trajectory is found. Finally, the efficiency of presented algorithm is investigated for different MOBILE BASE robotic arms.

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APA: Copy

HABIBNEZHAD KOURAYEM, M., & GHARIBLOU, H.. (2004). THE ROLE OF BASE MOBILITY ON MAXIMIZING LOAD OF MECHANICAL MANIPULATORS. INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE (ENGLISH), 15(4), 52-64. SID. https://sid.ir/paper/530994/en

Vancouver: Copy

HABIBNEZHAD KOURAYEM M., GHARIBLOU H.. THE ROLE OF BASE MOBILITY ON MAXIMIZING LOAD OF MECHANICAL MANIPULATORS. INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE (ENGLISH)[Internet]. 2004;15(4):52-64. Available from: https://sid.ir/paper/530994/en

IEEE: Copy

M. HABIBNEZHAD KOURAYEM, and H. GHARIBLOU, “THE ROLE OF BASE MOBILITY ON MAXIMIZING LOAD OF MECHANICAL MANIPULATORS,” INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE (ENGLISH), vol. 15, no. 4, pp. 52–64, 2004, [Online]. Available: https://sid.ir/paper/530994/en

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