Contribution to the load capacity estimation for interacting manipulators coupled via a common object

Mikhail Mikhailovich Svinin, S. V. Eliseev

研究成果: ジャーナルへの寄稿Conference article


In the design of controlled manipulators, an important role is played by estimates of their mechanical properties, primarily the load capacity. The authors investigate, in a fixed configuration, the static load capacity of a system of manipulators transporting a common object. The problem of determining the load capacity is reduced to a general problem of linear programming whose solution can be obtained by using well-known numerical methods of optimization. On the basis of such a formalization of the problem, the lower and upper estimates of the load capacity are obtained. An analytic example is presented. Some comments on improving the methods of calculating the load capacity are made.

ジャーナルProceedings - IEEE International Conference on Robotics and Automation
出版物ステータス出版済み - 1 1 1991
イベントProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
継続期間: 4 9 19914 11 1991


All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering