Calculation of load carrying capacity on a redundant manipulator

摘要: This paper presents a computational technique for determining the maximum allowable load of wheeled mobile manipulators desired trajectory. Full motion while carrying is an important consideration in their application and planning. The number factors limits loads, which can be achieved by manipulator during given Dynamic properties base mounted manipulator, actuator limitations additional constraints applied to resolve redundancy are probably most factors. To extra degrees freedom introduced mobility, we proposed constraint functions directly task space manipulator. Finally, numerical example involving two-link planar on differentially driven base, method determine verified. simulation results clearly demonstrate that value trajectory depends apply redundancy.