Maximum Allowable Dynamic Payload for Flexible Mobile Robotic Manipulators

Finding the full load motion for a point-to-point task can maximize the productivity and economic usage of the mobile manipulators. The presented paper proposes a technique to determine the maximum allowable dynamic payload for flexible mobile manipulators along with the obtained optimal trajectories. Non-linear modeling of the mobile robotic manipulators by considering both link and joint flexibility is presented; then, optimal motion planning of the system is organized as an optimal control formulation. By employing indirect solution of the problem, optimal maximum payload path of such robots is designed for a general objective function. The paper specially focuses on effects of various important parameters on the maximum payload determination and analyzes them thoroughly. The effectiveness and capability of the proposed method is investigated through various simulation studies. The obtained results illustrate the influences of the performance index, operating time and robot characteristics on the maximum payload path.