Dynamic load carrying capacity of mobile-base flexible-link manipulators: feedback linearization control approach

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 dynamic equations of the robot motion have been derived using finite elements modeling and Lagrange method. After having assembled the dynamic equations of the system in a closed form, a control approach based on feedback linearization method has been presented. Flexible link robots have passive degrees-of-freedom, and full feedback linearization cannot be applied to them because of internal instability problem. Instead, partial feedback linearization method has been utilized here to control joint angles while keeping vibrations of the links (i.e.: internal dynamics) contained. A method for calculating Dynamic Load Carrying Capacity (DLCC) of mobile-base flexible-link manipulators subject to accuracy and actuator torque constraints has been presented. Finally, a simulation study considering a flexible two-links planar manipulator mounted on a mobile base has been given to verify the effectiveness of the presented method.