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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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Citations: 
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+ Click to Cite.
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. https://www.sid.ir/en/journal/ViewPaper.aspx?id=2276



Vancouver: Copy

HABIBNEZHAD KOURAYEM M., GHARIBLOU H.. MAXIMUM ALLOWABLE LOAD ON WHEELED MOBILE MANIPULATORS. INTERNATIONAL JOURNAL OF ENGINEERING. 2003 [cited 2021June23];16(3 (TRANSACTIONS A: BASICS)):279-292. Available from: https://www.sid.ir/en/journal/ViewPaper.aspx?id=2276



IEEE: Copy

HABIBNEZHAD KOURAYEM, M., GHARIBLOU, H., 2003. MAXIMUM ALLOWABLE LOAD ON WHEELED MOBILE MANIPULATORS. INTERNATIONAL JOURNAL OF ENGINEERING, [online] 16(3 (TRANSACTIONS A: BASICS)), pp.279-292. Available: https://www.sid.ir/en/journal/ViewPaper.aspx?id=2276.



 
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