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Paper Information

Journal:   INTERNATIONAL JOURNAL OF ENGINEERING   SEPTEMBER 2003 , Volume 16 , Number 3 (TRANSACTIONS A: BASICS); Page(s) 279 To 292.
 
Paper: 

MAXIMUM ALLOWABLE LOAD ON WHEELED MOBILE MANIPULATORS

 
 
Author(s):  HABIBNEZHAD KOURAYEM M.*, GHARIBLOU H.
 
* Tehran, Iarn
 
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.‏
 
Keyword(s): GIVEN TRAJECTORY, LOAD CARRYING, CAPACITY, BASE REPLACEMENT, MANIPULATOR
 
References: 
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