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Trajectory optimization of flexible mobile manipulators

Published online by Cambridge University Press:  31 October 2005

H. Ghariblu  and
M. H. Korayem
H. Ghariblu
Affiliation:
Inteligent Systems Laboratory, Faculty of Mechanical Engineering, Zanjan University, Zanjan (Iran). E-mail: ghariblu@mail.znu.ac.ir
M. H. Korayem
Affiliation:
Mechanical Engineering Department, Iran University of Science and Technology, Tehran (Iran).
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Abstract

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A computational algorithm is developed to find a dynamic motion trajectory of a mobile manipulator with flexible links and joints that will allow the robot to carry a maximum load between two specified end positions. A compact form of the linearized state space dynamic equations is organized as well as constraint equations. Then, the problem of finding a maximum load carrying capacity on flexible mobile manipulators is formulated as a trajectory optimization problem.

Keywords

Trajectory optimizationMobile manipulatorsLinearized trajectory

Information

Type
Article
Information
Robotica , Volume 24 , Issue 3 , May 2006 , pp. 333 - 335
Copyright
2005 Cambridge University Press