Dynamic Load Carrying Capacity of Mechanical Manipulators—Part II: Computational Procedure and Applications
- 1 March 1988
- journal article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 110 (1) , 53-61
- https://doi.org/10.1115/1.3152648
Abstract
A computational procedure is presented for obtaining numerical solutions to the trajectory optimization problem associated with synthesizing robot dynamic trajectories with maximum load carrying capacities. The applications of the procedure and the problem formulations given in Part I of this paper to synthesizing time-optimal robot motions and classification of multi-degree-of-freedom robot manipulators are also investigated.Keywords
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