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In this paper, a method for calculating the dynamic load carrying capacity for mobile base flexible two link manipulators with closed loop motion control is obtained. The dynamic load carrying capacity (DLCC) of a manipulator for a given end-effecter trajectory is defined as the maximum load that the manipulator can carry on the defined trajectory with sufficient accuracy. First the kinematic and...
The main objective of this study was formulating and determining the maximum allowable dynamic load (MADL) for flexible link-flexible joint manipulators along a predefined trajectory with imposing the amplitude of residual vibration as a new constraint in addition to two earlier constraints, actuator torque capacity and end-effector precision constraints. In the rest-to-rest motion, the end-effector...
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