TAILIEUCHUNG - 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 manipulators is considered. | Vietnam Journal of Mechanics, VAST, Vol. 29, No. 2 (2007), pp. 65 - 72 INFLUENCE OF TRAJECTORIES ON THE JOINT TORQUES OF KINEMATICALLY REDUNDANT MANIPULATORS NGUYEN VAN KHANG, Do TUAN ANH, NGUYEN PHONG DIEN Department of Applied Mechanics , Hanoi University of Technology TRAN HOANG NAM Vinh Long Pedagogical and Technical College 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. Keywords: Redundant manipulator, inverse dynamics, kinematic redundancy 1. INTRODUCTION The operation tasks of today 's robot manipulators become more sophisticated and require that manipulators possess more and more degrees of freedom (DOF) to offer greater flexibility. The kinematic redundancy occurs when the DOF of a manipulator is more than the minimum number necessary for executing a giyen operation task [1]. The extra DOF presented in redundant manipulators can be used to avoid obstacles and kinematic singularities, to increase the workspace or to optimize the motion of the manipulator relatively to a cost function. There is widespread interest in redundant manipulators due to such advantages. A significant number of paper has been published concerning the problems of kinematic redundancy and much achievement has been reviewed by [2]. Recently, there have been several scientific papers focused upon kinematic analysis, motion planning and controls of redundant robot manipulators [1-9]. However, it should be pointed out that the development on the theory for solving the inverse dynamic problem of redundant manipulators is still limited and the literature on this respect therefore is little. In this paper, .

• Cơ khí - Chế tạo máy
• Vietnam Journal of Mechanics
• Influence of trajectories on the joint torques
• Kinematically redundant manipulators
• Solving the inverse dynamics problem
• The joint torques
• Generating efficient symbolic solutions
• Dang Dinh Ang
• Nonlinear analysis and mechanics
• Dynamic problems involving stationary cracks
• The Wiener Hopt technique
• Dual integral equations
• Dual integrals in non linear fracture mechanics
• Non linear fracture mechanics
• Energy release rate
• Discuss the obtained
• The alpha finite element method (αFEM)
• Solid mechanics using triangular and tetrahedral elements
• Suitable computational cost
• NS FEM makes
• The upper bound property
• Non linear constitutive problems in solid mechanics
• Non linear constitutive problems
• Languages Gibian and special operators
• The application FEM
• Betts miller janjic convective parameterization scheme
• H14 31 model to forecast heavy rainfall in Vietnam
• Betts Miller Janjic
• Three rain seasons
• Manufacturing dry mixed cement mortar
• High compressive strength
• High flexural strength
• Low shrinkage and high watertightness for restoration
• Damaged hydraulic structures in Vietnam
• Standard gradient models and crack simulation
• Standard gradient models
• The propagation of cracks
• Damage mechanics and crack simulation
• The interaction between two parametric excitations
• The second and third degrees
• The asymptotic method of nonlinear mechanics
• Dynamic system governed
• Comparison of two hydrological model simulations
• Nam and Xinanjiang for Nong Son catchment
• The Central Vietnam
• The runoff components
• 3 D numerical simulation
• The tidal circulation
• The gulf of Tonkin
• The kinetic energy distribution
• Duality in the analysis of responses to nonlinear systems
• The analysis of responses
• The original nonlinear systems
• The study of nonlinear mechanics
• Aerodynamics of a wing in surface effect ship
• Theory and experiment
• Wing in surface effect ship
• The aerodynamic characteristics
• The Institute of Mechanics
• The error estimate
• The convergence rate for h
• p refinement
• The finite element analysis
• Three dimensional elastostatic mechanics problems
• Some initial experimental results
• Free water layer formation in horizontal pipes
• Water layer formation
• Hanoi Institute of Mechanics
• Bending vibration of beam elements under moving loads
• Considering vehicle braking forces
• Fluctuations of structures
• Beam elements according
• Continuous element for vibration analysis
• Thick shells of revolution
• Continous Element Method
• Finite element solutions
• Natural frequencies and harmonic responses
• Cast3m implementation of the extended finite element method
• The extended finite element method for cohesive crack
• Quasi brittle materia
• The proposed implementation
• The displacement discontinuities
• Buckling analysis of simply supported composite laminates subjected
• In plane compression load
• A novel mesh ffree method
• Alternative numerical technique
• Mesh free method
• A three story building
• Hedge algebras based fuzzy controller
• The structural system
• The El Centro earthquake
• Three story building against earthquake
• Laminar separation phenomenon combining with numerical calculations
• The turbulent separation
• The laminar separation
• Experimental study on mechanical properties
• Three phase polymer composite reinforced
• Glass fibers and titanium oxide particles
• Polymer composite reinforced
• Three phase composite
• Dynamic characteristics of elastically supported beam subjected
• A compressive axial force and a moving load
• The implicit Newmark method
• The Galerkin finite element method
• The axial force
• Eccentrically stiffened functionally graded plates and shallow shells
• Von Karman Donnell sense
• The formulation of governing equations
• The classical shell theory
• Mathematical modelling and control of the evolution
• Dynamic systems interacting with medium
• Mathematical modeling evolutional systems interacting
• Two conjugate mechanical subsystems
• Evaluating structural safety based on fuzzy set theory
• Evaluating structural safety
• The fuzzy reliability
• Simple beam structure