| Authors | MH Korayem, V Azimirad, M Irani Rahagi |
|---|---|
| Journal | Arabian Journal for Science and Engineering |
| Paper Type | Full Paper |
| Published At | 2014 |
| Journal Grade | Scientific - research |
| Journal Type | Typographic |
| Journal Country | Germany |
| Journal Index | ISI |
Abstract
In this paper, a new method which is a combination of open and closed loop
optimal control is developed to find maximum load carrying capacity of nonholonomic
wheeled mobile manipulator (WMM) in the presence of environmental obstacles. At first
level, open loop control method is used to solve path planning problem and design an
optimal trajectory with maximum dynamic load carrying capacity between initial and final
point. Optimality conditions are obtained for carrying the maximum payload between two …