Maximum allowable load of mobile manipulator in the presence of obstacle using non-linear open and closed loop optimal control

چکیده مقاله

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 …