Trajectory optimization of flexible mobile manipulators

被引：55
作者：
Ghariblu, H [1 ]
Korayem, MH
机构：
[1] Zanjan Univ, Fac Mech Engn, Inteligent Syst Lab, Zanjan, Iran
[2] Iran Univ Sci & Technol, Dept Mech Engn, Tehran, Iran
来源：
ROBOTICA | 2006年 / 24卷 / 333-335期
关键词：
trajectory optimization; mobile manipulators; linearized trajectory;
D O I：
10.1017/S0263574705002225
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：333 / 335
页数：3
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