论文信息 - Trajectory optimization of flexible mobile manipulators

Trajectory optimization of flexible mobile manipulators

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.

Moharam Habibnejad Korayem | H. Ghariblu | M. Korayem | H. Ghariblu | Hashem Ghariblu

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