Influence of trajectories on the joint torques of kinematically redundant manipulators

Authors

  • Nguyen Van Khang Department of Applied Mechanics, Hanoi University of Technology
  • Do Anh Tuan Department of Applied Mechanics, Hanoi University of Technology
  • Nguyen Phong Dien Department of Applied Mechanics, Hanoi University of Technology
  • Tran Hoang Nam Vinh Long Pedagogical and Technical College

DOI:

https://doi.org/10.15625/0866-7136/29/2/5592

Keywords:

Redundant manipulator, inverse dynamics, kinematic redundancy

Abstract

This 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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Published

31-07-2007

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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