Inverse kinematic and dynamic analysis of redundant measuring manipulator BKHN-MCX-04

Nguyen Van Khang, Nguyen Phong Dien, Nguyen Van Vinh, Tran Hoang Nam


This paper deals with the problem of inverse kinematics and dynamics of a measuring manipulator with kinematic redundancy which was designed and manufactured at Hanoi University of Technology for measuring the geometric tolerance of surfaces of machining components. A comparison between the calculation result and the experimental measurement is also presented.

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