Payload Maximization for Mobile Flexible Manipulators in Environment with an Obstacle

• Autorzy: Heidari H. , Haghpanahi M. , Korayem M. H.

Identyfikatory

DOI

10.15632/jtam-pl.53.4.911

• Języki publikacji: EN

Abstrakty

EN

A mobile flexible manipulator is developed in order to achieve high performance requirements such as high-speed operation, increased high payload to mass ratio, less weight, and safer operation due to reduced inertia. Hence, this paper presents a method for finding the Maximum Allowable Dynamic Load (MADL) of geometrically nonlinear flexible link mobile manipulators. The full dynamic model of a wheeled mobile base and the mounted flexible manipulator is considered with respect to dynamics of non-holonomic constraint in environment including an obstacle. In dynamical analysis, an efficient model is employed to describe the treatment of a flexible structure in which both the geometric elastic nonlinearity and the foreshortening effects are considered. Then, a path planning algorithm is developed to find the maximum payload that the optimal strategy is based on the indirect solution to the open-loop optimal control problem. In order to verify the effectiveness of the presented algorithm, several simulation studies are carried out for finding the optimal path between two points in the presence of obstacles. The results clearly show the effect of flexibility and the proposed approach on mobile flexible manipulators.

Słowa kluczowe

EN

flexible link; nonholonomic mobile manipulator; optimal control; obstacle; path planning

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2015
• Tom: Vol. 53 nr 4
• Strony: 911—923
• Opis fizyczny: Bibliogr. 10 poz., rys., tab.

Twórcy

autor

Heidari H.

• College of Mechanical Engineering, Malayer University, Malayer, Iran

autor

Haghpanahi M.

• College of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran

autor

Korayem M. H.

• College of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran

Bibliografia

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• 3. Damaren C., Sharf L., 1995, Simulation of flexible-link manipulators with inertia and geometric nonlinearities, ASME Journal of Dynamic Systems, Measurement, and Control, 117, 1, 74-87
• 4. Khatib O., 1986, Real-time obstacle avoidance for manipulators and mobile robots, The International Journal of Robotics Research, 5, 1, 90-98
• 5. Korayem M.H., Haghpanahi M., Heidari H.R., 2012, Analysis of flexible mobile manipulators undergoing large deformation with stability consideration, Latin American Applied Research, 42, 2
• 6. Park K.J., 2003, Path design of redundant flexible robot manipulators to reduce residual vibration in the presence of obstacles, Robotica, 21, 1, 335-340
• 7. Seraji H., 1998, A unified approach to motion control of mobile manipulators, The International Journal of Robotics Research, 17, 12, 107-118
• 8. Wang C.Y.E., Timoszyk W.K., Bobrow J.E., 2001, Payload maximization for open chained manipulator: finding weightlifting motions for a Puma 762 robot, IEEE Transactions on Robotics and Automation, 17, 1, 218-224
• 9. Xi F., Fenton R.G., 1991, A quasi-static motion planner for flexible manipulators using the algebra of rotations, IEEE International Conference on Robotics and Automation, 3, 1, 2363-2368
• 10. Yamamoto Y., Yun X., 1994, Coordinating locomotion and manipulation of a mobile manipulator, IEEE Transactions on Robotics and Automation, 39, 6, 1326-1332