A contribution to the dynamic simulation of robot manipulator with the software RobotDyn

Nguyen Van Khang, Do Thanh Tung
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Authors

  • Nguyen Van Khang Hanoi University of Technology
  • Do Thanh Tung Hanoi University of Technology

DOI:

https://doi.org/10.15625/0866-7136/26/4/5705

Abstract

Robots manipulators are multibody systems with tree structures. In this paper the theoretical background of the computer program RobotDyn is presented. The program is developed using Lagrange's equations and Denavit-Hartenberg matrix. The dynamic simulation of the Robot SCARA with four degrees of freedom is considered as an example of application of the program RobotDyn.

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Published

31-12-2004

Issue

Vol. 26 No. 4 (2004)

Section

Research Article

License

Creative Commons License

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

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