Dynamic Load Carrying Capacity of Mobile-Base Flexible-Link Manipulators: Feedback Linearization Control Approach

This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated DLCC value inaccurate. The aim of this research is to investigate the necessity of considering the effect of closed loop control in the calculation of the DLCC of mobile-based flexible link manipulators. Finite elements modeling and the Lagrange method have been used for modeling a mobile-base manipulator with two flexible links link. After that, a control scheme based on the feedback linearization method has been devised. A method for calculating the DLCC from a previously published study has then been utilized, with the difference that closed-loop motion control has been assumed as opposed to open-loop control. Finally, three simulation case studies have been presented for which the results have been compared with those reported in a previously published study which ignores the closed-loop control effects. The comparisons show that the effect of closed-loop control on the DLCC needs to be taken into account.