Dynamic Load Carrying Capacity of Mechanical Manipulators—Part II: Computational Procedure and Applications

[+] Author and Article Information
L. T. Wang, B. Ravani

Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706

J. Dyn. Sys., Meas., Control 110(1), 53-61 (Mar 01, 1988) (9 pages) doi:10.1115/1.3152648 History: Received July 28, 1987; Online July 21, 2009


A computational procedure is presented for obtaining numerical solutions to the trajectory optimization problem associated with synthesizing robot dynamic trajectories with maximum load carrying capacities. The applications of the procedure and the problem formulations given in Part I of this paper to synthesizing time-optimal robot motions and classification of multi-degree-of-freedom robot manipulators are also investigated.

Copyright © 1988 by ASME
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