Determination of DLCC for Elastic Robotic Manipulators

The objective of the present work is to study the dynamic load-carrying capacity for a mechanical manipulator constructed of elastic arms. The optimal control is used in open-loop form to obtain the mathematical formulation. The Pontryagin Minimum Principle is proposed as a good way to fulfill this purpose that results a two-point boundary value problem. The Gibbs-Appell formulation is adopted to extract the dynamic equations and also assumed modes method is utilized to model the elastic characteristic of each links. The main target of present article is to find an optimal trajectory when elastic arms are carrying their maximum permissible level of payload. Finally, to show the accuracy of the results gained from computer simulation, the results of an experimental set up belongs to a two-link elastic robotic manipulator are compared with it and show a good agreement.