Influence of trajectories on the joint torques of kinematically redundant manipulators
Keywords:Redundant manipulator, inverse dynamics, kinematic redundancy
AbstractThis paper presents an algorithm for solving the inverse dynamics problem of redundant manipulators using MAPLE software. The method has the advantage of generating efficient symbolic solutions which reduces the computational cost. The influence of trajectories on the joint torques of redundant manipulators is considered. The theory is illustrated by the numerical simulation of a redundant four-link planar manipulator.
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How to Cite
Khang, N. V., Tuan, D. A., Dien, N. P., & Nam, T. H. (2007). Influence of trajectories on the joint torques of kinematically redundant manipulators. Vietnam Journal of Mechanics, 29(2), 65–72. https://doi.org/10.15625/0866-7136/29/2/5592
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