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

Abstract

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.