@article{Khang_Tung_2004, place={Hanoi, Vietnam}, title={A contribution to the dynamic simulation of robot manipulator with the software RobotDyn}, volume={26}, url={https://vjs.ac.vn/index.php/vjmech/article/view/5705}, DOI={10.15625/0866-7136/26/4/5705}, abstractNote={<p>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.</p>}, number={4}, journal={Vietnam Journal of Mechanics}, author={Khang, Nguyen Van and Tung, Do Thanh}, year={2004}, month={Dec.}, pages={215–225} }