Influence of trajectories on the joint torques of kinematically redundant manipulators
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 mani...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Publishing House for Science and Technology
2007-07-01
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| Series: | Vietnam Journal of Mechanics |
| Subjects: | |
| Online Access: | https://vjs.ac.vn/index.php/vjmech/article/view/5592 |
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| _version_ | 1850044300123963392 |
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| author | Nguyen Van Khang Do Anh Tuan Nguyen Phong Dien Tran Hoang Nam |
| author_facet | Nguyen Van Khang Do Anh Tuan Nguyen Phong Dien Tran Hoang Nam |
| author_sort | Nguyen Van Khang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-f38ffd56b7b146b18fa3f2c6dc87c343 |
| institution | DOAJ |
| issn | 0866-7136 2815-5882 |
| language | English |
| publishDate | 2007-07-01 |
| publisher | Publishing House for Science and Technology |
| record_format | Article |
| series | Vietnam Journal of Mechanics |
| spelling | doaj-art-f38ffd56b7b146b18fa3f2c6dc87c3432025-08-20T02:55:01ZengPublishing House for Science and TechnologyVietnam Journal of Mechanics0866-71362815-58822007-07-0129210.15625/0866-7136/29/2/5592Influence of trajectories on the joint torques of kinematically redundant manipulatorsNguyen Van Khang0Do Anh Tuan1Nguyen Phong Dien2Tran Hoang Nam3Department of Applied Mechanics, Hanoi University of TechnologyDepartment of Applied Mechanics, Hanoi University of TechnologyDepartment of Applied Mechanics, Hanoi University of TechnologyVinh Long Pedagogical and Technical CollegeThis 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.https://vjs.ac.vn/index.php/vjmech/article/view/5592Redundant manipulatorinverse dynamicskinematic redundancy |
| spellingShingle | Nguyen Van Khang Do Anh Tuan Nguyen Phong Dien Tran Hoang Nam Influence of trajectories on the joint torques of kinematically redundant manipulators Vietnam Journal of Mechanics Redundant manipulator inverse dynamics kinematic redundancy |
| title | Influence of trajectories on the joint torques of kinematically redundant manipulators |
| title_full | Influence of trajectories on the joint torques of kinematically redundant manipulators |
| title_fullStr | Influence of trajectories on the joint torques of kinematically redundant manipulators |
| title_full_unstemmed | Influence of trajectories on the joint torques of kinematically redundant manipulators |
| title_short | Influence of trajectories on the joint torques of kinematically redundant manipulators |
| title_sort | influence of trajectories on the joint torques of kinematically redundant manipulators |
| topic | Redundant manipulator inverse dynamics kinematic redundancy |
| url | https://vjs.ac.vn/index.php/vjmech/article/view/5592 |
| work_keys_str_mv | AT nguyenvankhang influenceoftrajectoriesonthejointtorquesofkinematicallyredundantmanipulators AT doanhtuan influenceoftrajectoriesonthejointtorquesofkinematicallyredundantmanipulators AT nguyenphongdien influenceoftrajectoriesonthejointtorquesofkinematicallyredundantmanipulators AT tranhoangnam influenceoftrajectoriesonthejointtorquesofkinematicallyredundantmanipulators |